Controller design for mechanical systems with underactuation degree one based on controlled Lagrangians method
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Publication:3566372
DOI10.1080/00207170902748724zbMath1190.93031MaRDI QIDQ3566372
Publication date: 7 June 2010
Published in: International Journal of Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1080/00207170902748724
stabilisation; gyroscopic forces; matching condition; underactuated mechanical systems; controlled Lagrangians method; the Pendubot
93B52: Feedback control
93D15: Stabilization of systems by feedback
93B51: Design techniques (robust design, computer-aided design, etc.)
70Q05: Control of mechanical systems
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Energy shaping control for systems with underactuation degrees two by controlled Lagrangian method, Angular velocity stabilization of underactuated rigid satellites based on energy shaping
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