Abstract
The condition of underactuation in mechanics, robotics, mechatronics, or dynamical systems refers to a system with more degrees of freedom (number of independent variables that define the system configuration) than actuators (input variables) to be controlled [1]. This restriction implies that some of the configuration variables of the system cannot be directly commanded, which highly complicates the design of control algorithms. Underactuated systems are commonly found in several areas and applications, such as robotics, aerospace systems, marine systems, flexible systems, mobile systems, and locomotive systems.
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Moreno-Valenzuela, J., Aguilar-Avelar, C. (2018). Introduction. In: Motion Control of Underactuated Mechanical Systems. Intelligent Systems, Control and Automation: Science and Engineering, vol 88. Springer, Cham. https://doi.org/10.1007/978-3-319-58319-8_1
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DOI: https://doi.org/10.1007/978-3-319-58319-8_1
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Publisher Name: Springer, Cham
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Online ISBN: 978-3-319-58319-8
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