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Dynamics and Switching Control of a Class of Underactuated Mechanical Systems with Variant Constraints
2019
Applied Sciences
Locomotion systems with variant constraints are familiar in real world applications, but the dynamics and control issues of variant constraint systems have not been sufficiently discussed to date. From the viewpoint of Lagrange–d'Alembert equations with additional variable constraints, this paper investigates the modeling approaches of a class of hybrid dynamical systems (HDS) with instantaneously variant constraints and the switching control techniques of stabilizing the HDS to given periodic
doi:10.3390/app9204235
fatcat:hgm3royj2jepbhkqzjijjvywpm