A survey of underactuated mechanical systems
An underactuated mechanical system (UMS) is a system which has fewer independent
control actuators than degrees of freedom to be controlled. Control of UMS is considered as …
control actuators than degrees of freedom to be controlled. Control of UMS is considered as …
A review on the control of second order underactuated mechanical systems
This paper describes some important classes of two degrees of freedom of underactuated
mechanical system and also surveys review of the recent state‐of‐the‐art concerning the …
mechanical system and also surveys review of the recent state‐of‐the‐art concerning the …
Nonlinear control of underactuated systems subject to both actuated and unactuated state constraints with experimental verification
H Chen, N Sun - IEEE Transactions on Industrial Electronics, 2019 - ieeexplore.ieee.org
In practice, underactuated systems are widely used, and their control problems have
attracted much attention in recent years. For safety concerns or transient performance …
attracted much attention in recent years. For safety concerns or transient performance …
Design and implementation of integral sliding-mode control on an underactuated two-wheeled mobile robot
JX Xu, ZQ Guo, TH Lee - IEEE Transactions on industrial …, 2013 - ieeexplore.ieee.org
This paper presents a novel implementation of an integral sliding-mode controller (ISMC) on
a two-wheeled mobile robot (2 WMR). The 2 WMR consists of two wheels in parallel and an …
a two-wheeled mobile robot (2 WMR). The 2 WMR consists of two wheels in parallel and an …
Reconfigurable tolerant control of uncertain mechanical systems with actuator faults: A sliding mode observer-based approach
This paper studies a key issue of developing reconfigurable fault-tolerant control to retain a
nominal feedback controller and simultaneously handles actuator faults and system …
nominal feedback controller and simultaneously handles actuator faults and system …
Adaptive optimal motion control of uncertain underactuated mechatronic systems with actuator constraints
Underactuated mechatronic systems are widely used in industrial production, where the
control efforts and operation accuracy are both important aspects of performance …
control efforts and operation accuracy are both important aspects of performance …
Fast terminal sliding control of underactuated robotic systems based on disturbance observer with experimental validation
In this study, a novel fast terminal sliding mode control technique based on the disturbance
observer is recommended for the stabilization of underactuated robotic systems. The finite …
observer is recommended for the stabilization of underactuated robotic systems. The finite …
A survey on underactuated robotic systems: bio-inspiration, trajectory planning and control
Underactuated robotic systems have become an important research topic aiming at
significant improvement of the behavioural performance and energy efficiency. Adopting …
significant improvement of the behavioural performance and energy efficiency. Adopting …
Integral backstepping sliding mode control for underactuated systems: Swing-up and stabilization of the Cart–Pendulum System
N Adhikary, C Mahanta - ISA transactions, 2013 - Elsevier
In this paper an integral backstepping sliding mode controller is proposed for controlling
underactuated systems. A feedback control law is designed based on backstepping …
underactuated systems. A feedback control law is designed based on backstepping …
Dynamics analysis and nonlinear control of an offshore boom crane
Y Fang, P Wang, N Sun, Y Zhang - IEEE Transactions on …, 2013 - ieeexplore.ieee.org
This paper analyzes the dynamics of an offshore boom crane and proposes a high-
performance nonlinear controller to drive the system states to track some constructed …
performance nonlinear controller to drive the system states to track some constructed …