Stabilization of internal dynamics of underactuated systems by periodic servo-constraints

L Bencsik, LL Kovács, A Zelei - International Journal of Structural …, 2017 - World Scientific
The model-based motion control of underactuated, multiple degree-of-freedom, complex
multibody systems is in focus. Underactuated mechanical systems possess less number of …

Computed torque control and utilization of parametric excitation for underactuated dynamical systems

A Zelei - 2015 - search.proquest.com
Dynamical systems with less independent control input than degrees of freedom are called
underactuated systems. They form a special group of robotic systems, because they are …

Reduction of the effect of actuator saturation with periodic servo-constraints

L Bencsik, LL Kovács - Proceedings of the Institution of …, 2018 - journals.sagepub.com
Saturation is an undesired event in trajectory tracking control of mechanical systems. When
the actuators of a robotic device saturate, the solution of the inverse dynamics problem …

[PDF][PDF] Stability of underactuated multibody systems subjected to periodic servo constraints

L Bencsik, LL Kovács, A Zelei - Control and Stability, 2015 - researchgate.net
Motion control of underactuated multibody systems involves a lot of mathematical problems.
This is mainly due to the fact that in case of underactuated systems the number of …

[PDF][PDF] Stability of underactuated multibody systems subjected to periodic

L Bencsik, LL Kovács, A Zelei - mm.bme.hu
Motion control of underactuated multibody systems involves a lot of mathematical problems.
This is mainly due to the fact that in case of underactuated systems the number of …

Dynamic analysis and tracking control of underactuated multibody systems

L Bencsik - 2017 - search.proquest.com
Dynamical systems with less independent control input than degrees of freedom are called
underactuated. This Ph. D. thesis deals with the modelling and control issues of …