TY - CHAP
T1 - Introduction
AU - Moreno-Valenzuela, Javier
AU - Aguilar-Avelar, Carlos
N1 - Publisher Copyright:
© 2018, Springer International Publishing AG.
PY - 2018
Y1 - 2018
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85024128738&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-58319-8_1
DO - 10.1007/978-3-319-58319-8_1
M3 - Capítulo
AN - SCOPUS:85024128738
T3 - Intelligent Systems, Control and Automation: Science and Engineering
SP - 1
EP - 12
BT - Intelligent Systems, Control and Automation
PB - Springer Netherlands
ER -
