Original paper

Uniform ultimate boundedness for underactuated mechanical systems as mismatched uncertainty disappeared

Volume: 95, Issue: 4, Pages: 2765 - 2782
Published: Dec 17, 2018
Abstract
We propose to design control for uncertain underactuated mechanical systems. The underactuated mechanical system is to follow prescribed holonomic or nonholonomic constraints. The uncertainty in the system does not in general fall within the range space of the input matrix, which is a major obstacle for control design. To resolve this difficulty, we decompose the uncertainty into matched uncertainty and mismatched uncertainty in a unique manner...
Paper Details
Title
Uniform ultimate boundedness for underactuated mechanical systems as mismatched uncertainty disappeared
Published Date
Dec 17, 2018
Volume
95
Issue
4
Pages
2765 - 2782
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