Controlling underactuated mechanical systems: A review and open problems

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Abstract

This chapter provides a short review on the popular yet still very important area of controlling underactuated mechanical systems. New solutions to the simultaneous stabilization and tracking problem are proposed for nonholonomic mobile robots using state and output feedback. Some open problems are discussed with a unique objective to solicit fundamentally novel techniques for the further development of modern nonlinear control theory.

Original languageEnglish (US)
Pages (from-to)77-88
Number of pages12
JournalLecture Notes in Control and Information Sciences
Volume407
DOIs
StatePublished - 2010

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control theory
robot
stabilization

ASJC Scopus subject areas

  • Library and Information Sciences

Cite this

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title = "Controlling underactuated mechanical systems: A review and open problems",
abstract = "This chapter provides a short review on the popular yet still very important area of controlling underactuated mechanical systems. New solutions to the simultaneous stabilization and tracking problem are proposed for nonholonomic mobile robots using state and output feedback. Some open problems are discussed with a unique objective to solicit fundamentally novel techniques for the further development of modern nonlinear control theory.",
author = "Zhong-Ping Jiang",
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journal = "Lecture Notes in Control and Information Sciences",
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