Abstract
In order to provide a generalized method for the synthesis of control laws for underactuated mechanical systems, it is intuitive to try to look for the structural properties that are common to different underactuated mechanical systems. On the other hand, as it has been mentioned in previous chapters, very often these systems are treated on a case by case basis. So far, only two attempts in classifying these systems are available in literature. The first classification is due to Seto and Baillieul and the second one is due to Olfati-Saber. The first objective of this chapter is to present these two classifications. The second objective is to investigate whether there is eventually a link between these two classifications.
…order leads to all virtues but what leads to order?
Georg Christoph Lichtenberg
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References
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Choukchou-Braham, A., Cherki, B., Djemaï, M., Busawon, K. (2014). Classification of Underactuated Mechanical Systems. In: Analysis and Control of Underactuated Mechanical Systems. Springer, Cham. https://doi.org/10.1007/978-3-319-02636-7_4
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DOI: https://doi.org/10.1007/978-3-319-02636-7_4
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-02635-0
Online ISBN: 978-3-319-02636-7
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