Tracking control of an underactuated rigid body with a coupling input force
This paper presents a set of basic problems concerning the control of an underactuated dynamic system. Exemplary system of a planar rigid body with a coupling input force is described. Lie brackets method is used to show accessibility of the system. A tracking problem is solved with computed torque...
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| Format: | Article |
| Language: | English |
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Polish Academy of Sciences
2014-09-01
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| Series: | Archives of Control Sciences |
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| Online Access: | http://www.degruyter.com/view/j/acsc.2014.24.issue-3/acsc-2014-0019/acsc-2014-0019.xml?format=INT |