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Archives of Control Sciences

The Journal of Polish Academy of Sciences

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Volume 24, Issue 3


Tracking control of an underactuated rigid body with a coupling input force

Sebastian Korczak
  • Department of Mechanics, Faculty of Automotive and Construction Machinery Engineering, Warsaw University of Technology
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Published Online: 2014-10-08 | DOI: https://doi.org/10.2478/acsc-2014-0019


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 algorithm. The coupling force makes the convergence to zero of all state variables errors impossible. After numerical simulation, stability of the system is mentioned

Keywords: underactuated system; tracking; coupling force; computed torque


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About the article

Received: 2013-05-20

Revised: 2014-04-07

Published Online: 2014-10-08

Published in Print: 2014-09-01

Citation Information: Archives of Control Sciences, Volume 24, Issue 3, Pages 321–332, ISSN (Online) 2300-2611, DOI: https://doi.org/10.2478/acsc-2014-0019.

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