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Modeling and Control of Multi-Body Mechanical Systems: Part I A Riemannian Geometry Approach Read chapter Read first chapter

2011 | OriginalPaper | Chapter

Controlling Underactuated Mechanical Systems: A Review and Open Problems

Author : Zhong-Ping Jiang

Published in: Advances in the Theory of Control, Signals and Systems with Physical Modeling

Publisher: Springer Berlin Heidelberg

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This chapter provides a short review on the popular yet still very important area of controlling underactuated mechanical systems. New solutions to the simultaneous stabilization and tracking problem are proposed for nonholonomic mobile robots using state and output feedback. Some open problems are discussed with a unique objective to solicit fundamentally novel techniques for the further development of modern nonlinear control theory.

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previous chapter Elimination Theory for Nonlinear Parameter Estimation
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Metadata
Title
Controlling Underactuated Mechanical Systems: A Review and Open Problems
Author
Zhong-Ping Jiang
Copyright Year
2011
Publisher
Springer Berlin Heidelberg
Book
Advances in the Theory of Control, Signals and Systems with Physical Modeling

Print ISBN: 978-3-642-16134-6

Electronic ISBN: 978-3-642-16135-3

Copyright Year: 2011

DOI
https://doi.org/10.1007/978-3-642-16135-3_7