文章基本信息

标题：Underactuated mechanical systems: Whether orbital stabilization is an adequate assignment for a controller design?
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作者：Sh. Mamedov ; R. Khusainov ; S. Gusev 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：9262-9269
DOI：10.1016/j.ifacol.2020.12.2378
语种：English
出版社：Elsevier
摘要：AbstractThe paper contributes to developing algorithms for motion planning and motion control for mechanical systems with two and more passive degrees of freedom by exploring a challenging example in details. As shown, some of arguments of motion planning methods developed for systems of underactuation degree one can be generalized for novel demanding settings, while corresponding arguments and concepts for controller design should be substantially reconsidered and updated. Rigorous theoretical results are well supported by numerical studies.
关键词：KeywordsUnderactuared systemsZhukovsky stabilitynested representation of a motion