Dynamics and control of a class of underactuated mechanical systems
Open accessAbstract
This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the results; these examples are of underactuated mechanical systems that are not linearly controllable or smoothly stabilizable.
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Underactuated robotics makes use of systems in which the number of individually controllable degrees of freedom is less than the number of degrees of freedom of the mechanism.
“Underactuated robotics (Spong et al., 1998; Reyhanoglu et al., 1999; Birglen et al., 2008) makes use of systems in which the number of individually controllable degrees of freedom is less than the number of degrees of freedom of the mechanism.”
From Lessons for Robotics From the Control Architecture of the Octopus (2022) · cites this paper as Reyhanoglu et al., 1999
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Cited by
Sorted by citations
Lessons for Robotics From the Control Architecture of the Octopus
Sivitilli, D. M., Smith, J. R., & Gire, D. H. (2022) · Frontiers in Robotics and AI · doi:10.3389/frobt.2022.862391 · Cited by 13 · see citing works
“Underactuated Robotics Underactuated robotics (Spong et al., 1998; Reyhanoglu et al., 1999; Birglen et al., 2008) makes use of systems in which the number of individually controllable degrees of freedom is less than the number of degrees of freedom of the mechanism.”
Background
- Authors
- Reyhanoglu, M., van der Schaft, A., Mcclamroch, N. H., & Kolmanovsky, I.
- Affiliations
- Embry-Riddle Aeronautical University Daytona Beach Florida Campus (US)
- University of Michigan (US)
- Ford Motor Company (United States) (US)
- Venue
- IEEE Transactions on Automatic Control
- Published
- 1999
- Volume
- 44
- Issue
- 9
- Pages
- 1663-1671
- ISSN
- 0018-9286 (ISSN-L)
- OpenAlex
- W2128592712
- Cited by
- 501
- References
- 36
- Citations by year
- 2026: 4 · 2025: 10 · 2024: 10 · 2023: 14 · 2022: 14 · 2021: 21 · 2020: 17 · 2019: 28 · 2018: 27 · 2017: 19 · 2016: 13 · 2015: 18 · 2014: 28 · 2013: 24 · 2012: 30
- FWCI
- 42.60
- Type
- journal article
- Language
- en
- Open access
- green
- research.rug.nl
- Locations
- IEEE Transactions on Automatic Control (publishedVersion)
- University of Twente Research Information (publishedVersion)
- University of Groningen research database (University of Groningen / Centre for Information Technology) (submittedVersion, other-oa)
- University of Twente Research Information (submittedVersion)
- Scholarly Commons (Embry–Riddle Aeronautical University) (submittedVersion)
- University of Twente Research Information (submittedVersion, other-oa)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Control and Stability of Dynamical Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Control and Dynamics of Mobile Robots
- Keywords
- underactuated mechanical systems, controllability, stabilizability, nonlinear control, mechanical system dynamics, underactuated systems
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