Nonlinear Control of Underactuated Systems Subject to Both Actuated and Unactuated State Constraints With Experimental Verification
In practice, underactuated systems are widely used, and their control problems have attracted much attention in recent years. For safety concerns or transient performance requirements, some state constraints should be guaranteed both theoretically and practically, particularly those exerted on unact...
Saved in:
| Published in | IEEE transactions on industrial electronics (1982) Vol. 67; no. 9; pp. 7702 - 7714 |
|---|---|
| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
New York
IEEE
01.09.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
Cover
Loading…
| Abstract | In practice, underactuated systems are widely used, and their control problems have attracted much attention in recent years. For safety concerns or transient performance requirements, some state constraints should be guaranteed both theoretically and practically, particularly those exerted on unactuated states. To the best of our knowledge, there are few closed-loop control methods that can treat unactuated state constraints with theoretical guarantees (i.e., that can theoretically guarantee unactuated state variables to be always within the preset ranges). For this purpose, in this article, we propose a new control strategy for a class of underactuated systems that can treat the various constraints including actuated and unactuated state constraints and the constraints on some specific composite variables . Specifically, we elaborately design some new auxiliary terms that are composed of constrained variable signals and actuated velocity signals. These terms can enhance the couplings between unactuated and actuated states that are further utilized to tackle the unactuated state and composite variable constraints. Then, the performance of the designed method is proven by rigorous analysis. Finally, the proposed method is applied to a double pendulum crane system and a tower crane system to verify its superior performance by experiments. |
|---|---|
| AbstractList | In practice, underactuated systems are widely used, and their control problems have attracted much attention in recent years. For safety concerns or transient performance requirements, some state constraints should be guaranteed both theoretically and practically, particularly those exerted on unactuated states. To the best of our knowledge, there are few closed-loop control methods that can treat unactuated state constraints with theoretical guarantees (i.e., that can theoretically guarantee unactuated state variables to be always within the preset ranges). For this purpose, in this article, we propose a new control strategy for a class of underactuated systems that can treat the various constraints including actuated and unactuated state constraints and the constraints on some specific composite variables . Specifically, we elaborately design some new auxiliary terms that are composed of constrained variable signals and actuated velocity signals. These terms can enhance the couplings between unactuated and actuated states that are further utilized to tackle the unactuated state and composite variable constraints. Then, the performance of the designed method is proven by rigorous analysis. Finally, the proposed method is applied to a double pendulum crane system and a tower crane system to verify its superior performance by experiments. |
| Author | Sun, Ning Chen, He |
| Author_xml | – sequence: 1 givenname: He orcidid: 0000-0001-6356-1655 surname: Chen fullname: Chen, He email: chenh@hebut.edu.cn organization: School of Artificial Intelligence, Hebei University of Technology, Tianjin, China – sequence: 2 givenname: Ning orcidid: 0000-0002-5253-2944 surname: Sun fullname: Sun, Ning email: sunn@nankai.edu.cn organization: Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence and the Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China |
| BookMark | eNp9kLtPwzAQhy0EEuWxI7FYYk65c5zEHqEqDwnBQAtj5MSOSBXsYrsSzPzjuJSHxMB0N3y_e3x7ZNs6awg5QhgjgjydXU_HDFCOmeRlwXGLjLAoqkxKLrbJCFglMgBe7pK9EBYAyAssRuT91tmht0Z5OnE2ejdQ19G51carNq5UNJrev4VongO9XzUL00YaHT138YmefQPK6hT55WMq63EhetXbGOhjn_Dp69L4_tnYqAb6kNqub1XsnT0gO50agjn8qvtkfjGdTa6ym7vL68nZTdYyiTHTDZqSgSyrvGiErHTVsUYxDaVqudKgmWwNKKGRgWBKqQIbXskqB46IZZfvk5PN3KV3LysTYr1wK2_TyppxQGRc5CJRsKFa70LwpquX6Wrl32qEeq26Tqrrter6S3WKlH8ibR8_X1sLGP4LHm-CvTHmZ48QFbCC5x-mVY85 |
| CODEN | ITIED6 |
| CitedBy_id | crossref_primary_10_1016_j_isatra_2022_11_019 crossref_primary_10_1109_TAES_2021_3126569 crossref_primary_10_1109_ACCESS_2021_3079382 crossref_primary_10_1007_s12555_020_0064_y crossref_primary_10_1177_1077546321990172 crossref_primary_10_1007_s12555_019_0998_0 crossref_primary_10_1007_s12555_022_0123_7 crossref_primary_10_1177_0020294020913890 crossref_primary_10_1007_s42417_023_00887_8 crossref_primary_10_1016_j_arcontrol_2023_03_002 crossref_primary_10_1016_j_ymssp_2024_112109 crossref_primary_10_1177_01423312231164194 crossref_primary_10_1007_s11071_024_10852_z crossref_primary_10_1177_1729881420930577 crossref_primary_10_1109_TIE_2021_3139134 crossref_primary_10_1016_j_ymssp_2024_111378 crossref_primary_10_1002_rob_22130 crossref_primary_10_1109_TCYB_2021_3116950 crossref_primary_10_1109_TASE_2020_3015870 crossref_primary_10_1109_ACCESS_2020_3035896 crossref_primary_10_1109_TNNLS_2021_3115960 crossref_primary_10_1016_j_jfranklin_2024_106707 crossref_primary_10_1016_j_autcon_2019_103054 crossref_primary_10_1080_00207179_2021_1998638 crossref_primary_10_1109_ACCESS_2021_3104935 crossref_primary_10_3390_act12120462 crossref_primary_10_1109_TCYB_2024_3361880 crossref_primary_10_1002_acs_3893 crossref_primary_10_1080_02533839_2024_2308251 crossref_primary_10_1080_15397734_2021_1967167 crossref_primary_10_1016_j_oceaneng_2022_111809 crossref_primary_10_1007_s11071_023_08803_1 crossref_primary_10_1007_s42417_023_00902_y crossref_primary_10_1007_s12555_021_0401_9 crossref_primary_10_1007_s11071_024_10113_z crossref_primary_10_1007_s12555_020_0769_y crossref_primary_10_1016_j_ymssp_2025_112513 crossref_primary_10_1109_TAI_2024_3355870 crossref_primary_10_1109_TASE_2023_3309937 crossref_primary_10_1016_j_jfranklin_2023_09_007 crossref_primary_10_1109_ACCESS_2021_3070048 crossref_primary_10_3390_jmse13010091 crossref_primary_10_1016_j_oceaneng_2023_113784 crossref_primary_10_1109_ACCESS_2020_3014220 crossref_primary_10_1016_j_ymssp_2021_107613 crossref_primary_10_1155_2020_9096073 crossref_primary_10_1109_ACCESS_2021_3081521 crossref_primary_10_1109_TMECH_2021_3137818 crossref_primary_10_1109_ACCESS_2020_3044319 crossref_primary_10_1016_j_oceaneng_2024_119099 crossref_primary_10_1016_j_autcon_2020_103533 crossref_primary_10_1016_j_ejcon_2023_100944 crossref_primary_10_3390_app10031179 crossref_primary_10_1109_ACCESS_2020_2979223 crossref_primary_10_1155_2020_4273810 crossref_primary_10_1002_rnc_6517 crossref_primary_10_1109_TIE_2021_3055159 crossref_primary_10_3233_JIFS_221632 crossref_primary_10_1515_ijnsns_2018_0005 crossref_primary_10_1002_rnc_4854 crossref_primary_10_1007_s40815_020_00962_2 crossref_primary_10_1109_TIE_2022_3163526 crossref_primary_10_1109_TIE_2020_2991933 crossref_primary_10_1016_j_ymssp_2020_107601 crossref_primary_10_1016_j_ymssp_2022_109274 crossref_primary_10_1080_15397734_2021_1920978 crossref_primary_10_1109_TII_2022_3191652 crossref_primary_10_1016_j_ymssp_2020_107441 crossref_primary_10_1007_s12555_021_0205_y crossref_primary_10_1109_ACCESS_2020_3041678 crossref_primary_10_3390_vibration5010001 crossref_primary_10_1007_s12555_020_0613_4 crossref_primary_10_1016_j_ymssp_2025_112419 crossref_primary_10_1109_TCYB_2024_3488371 crossref_primary_10_1016_j_apm_2023_10_029 crossref_primary_10_1177_0020294020944956 crossref_primary_10_1109_TSMC_2023_3273820 crossref_primary_10_1109_TASE_2024_3367921 crossref_primary_10_1177_09544062241260710 crossref_primary_10_1002_rnc_7637 crossref_primary_10_1109_ACCESS_2020_2968558 crossref_primary_10_1109_TMECH_2021_3126665 crossref_primary_10_1109_ACCESS_2021_3063792 crossref_primary_10_1016_j_ymssp_2021_108326 crossref_primary_10_1049_cth2_70011 crossref_primary_10_1007_s12555_020_0209_z crossref_primary_10_1109_TIE_2022_3148741 crossref_primary_10_1177_09544062211063130 crossref_primary_10_1016_j_conengprac_2023_105638 crossref_primary_10_1177_0142331220966111 crossref_primary_10_1007_s12555_020_0008_6 crossref_primary_10_1016_j_autcon_2021_103954 crossref_primary_10_1016_j_jfranklin_2022_06_007 crossref_primary_10_1080_0305215X_2021_1993844 crossref_primary_10_1177_0954406220954502 crossref_primary_10_1371_journal_pone_0256750 crossref_primary_10_1109_TMECH_2022_3210536 crossref_primary_10_1002_rnc_7005 crossref_primary_10_1109_TASE_2020_3035178 crossref_primary_10_1109_ACCESS_2020_2992780 crossref_primary_10_1109_TASE_2019_2961258 crossref_primary_10_1109_ACCESS_2021_3085336 crossref_primary_10_3390_act11120355 crossref_primary_10_1002_acs_3458 crossref_primary_10_1109_TIE_2019_2962450 crossref_primary_10_1177_0020294020932354 crossref_primary_10_3390_act11010025 crossref_primary_10_1109_TII_2022_3230706 crossref_primary_10_1177_00202940211000380 crossref_primary_10_1109_ACCESS_2020_3002275 crossref_primary_10_1016_j_ymssp_2021_107763 crossref_primary_10_1002_acs_3574 crossref_primary_10_3390_app11073051 crossref_primary_10_1177_01423312231200685 crossref_primary_10_1177_0954406220949579 crossref_primary_10_1109_ACCESS_2021_3071616 crossref_primary_10_1016_j_ijmecsci_2023_108620 crossref_primary_10_1016_j_ymssp_2023_110497 crossref_primary_10_1109_ACCESS_2020_3020091 crossref_primary_10_1109_ACCESS_2021_3050258 crossref_primary_10_1155_2020_4183706 crossref_primary_10_1109_TFUZZ_2023_3320145 crossref_primary_10_1007_s43684_022_00040_4 crossref_primary_10_1109_TNNLS_2023_3311927 crossref_primary_10_1016_j_asr_2022_02_012 crossref_primary_10_1016_j_autcon_2024_105889 crossref_primary_10_1109_ACCESS_2020_2983898 crossref_primary_10_1109_ACCESS_2021_3101855 crossref_primary_10_1109_TSMC_2024_3520174 crossref_primary_10_1016_j_autcon_2020_103342 crossref_primary_10_1109_ACCESS_2020_3002569 crossref_primary_10_1007_s12555_020_0120_7 crossref_primary_10_1109_ACCESS_2021_3102389 crossref_primary_10_1016_j_jfranklin_2022_07_022 crossref_primary_10_1109_ACCESS_2021_3115948 crossref_primary_10_1177_09596518241228331 crossref_primary_10_3724_SP_J_1249_2024_01101 crossref_primary_10_1109_TIE_2020_3009612 crossref_primary_10_1109_ACCESS_2020_2980371 crossref_primary_10_1016_j_ins_2021_06_025 crossref_primary_10_1109_ACCESS_2020_2992997 crossref_primary_10_1007_s12555_020_0033_5 crossref_primary_10_1007_s13369_021_05340_0 crossref_primary_10_1016_j_conengprac_2023_105741 crossref_primary_10_1109_LRA_2021_3097445 crossref_primary_10_1016_j_autcon_2022_104368 crossref_primary_10_1016_j_conengprac_2021_104854 crossref_primary_10_1109_TNNLS_2021_3105664 crossref_primary_10_1109_TCST_2024_3416416 crossref_primary_10_1061__ASCE_CO_1943_7862_0002177 crossref_primary_10_1109_ACCESS_2020_2995104 |
| Cites_doi | 10.1177/1077546314558499 10.1016/j.ymssp.2018.11.018 10.1109/TAC.2018.2868026 10.1109/CDC.2018.8619350 10.1016/j.automatica.2016.09.024 10.1016/j.automatica.2012.09.002 10.1109/TIE.2019.2902834 10.1016/j.mechatronics.2004.11.004 10.1016/j.automatica.2017.07.033 10.1016/j.isatra.2013.12.021 10.1049/iet-cta.2014.0069 10.1002/rnc.1601 10.1109/TIE.2013.2262747 10.1109/TCYB.2018.2794972 10.1109/TCST.2018.2834879 10.1049/iet-cta.2012.0505 10.1109/TMECH.2016.2636251 10.1109/TCST.2013.2280464 10.1109/TIE.2013.2288200 10.1109/TSMC.2018.2871627 10.1109/IROS.1994.407375 10.1109/TIE.2008.2004660 10.1109/TAES.2018.2849904 10.1109/TIE.2013.2282594 10.1016/j.ymssp.2017.01.036 10.1109/TIE.2018.2793214 10.1109/TFUZZ.2017.2710952 10.1007/s10015-008-0586-5 10.1016/j.automatica.2004.01.021 10.1016/j.automatica.2012.10.007 10.1016/S1474-6670(17)58105-7 10.1109/TAC.2016.2594204 10.1109/TMECH.2014.2350535 10.1109/TIE.2010.2102318 10.1016/j.automatica.2016.11.012 10.1177/1077546309106142 10.1177/0142331213495438 10.1007/s11071-014-1753-y 10.1109/9.956051 10.1109/9.788533 10.1080/00207170802061269 10.1109/TIE.2015.2414396 10.1016/j.automatica.2018.04.050 10.1115/1.4029627 10.1016/j.jsv.2015.01.042 10.1109/TCST.2015.2424925 10.1109/TSMC.2017.2703140 10.1109/TIE.2013.2286565 10.1049/iet-cta.2017.1106 10.1109/TIE.2017.2701760 10.1016/S0005-1098(02)00095-X 10.1109/TAC.2007.904319 10.1016/j.autcon.2015.12.014 10.1109/TIE.2012.2183841 10.1016/j.isatra.2016.10.017 10.1109/TIE.2017.2772148 10.1109/TIE.2017.2668979 10.1109/TNNLS.2014.2302475 10.1109/TMECH.2017.2706304 10.1016/j.automatica.2014.07.023 10.1109/TAC.2002.800770 10.1016/j.mechatronics.2013.09.001 10.1016/j.automatica.2007.05.014 10.1109/TMECH.2014.2311825 |
| ContentType | Journal Article |
| Copyright | Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2020 |
| Copyright_xml | – notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2020 |
| DBID | 97E RIA RIE AAYXX CITATION 7SP 8FD L7M |
| DOI | 10.1109/TIE.2019.2946541 |
| DatabaseName | IEEE Xplore (IEEE) IEEE All-Society Periodicals Package (ASPP) 1998–Present IEEE Xplore CrossRef Electronics & Communications Abstracts Technology Research Database Advanced Technologies Database with Aerospace |
| DatabaseTitle | CrossRef Technology Research Database Advanced Technologies Database with Aerospace Electronics & Communications Abstracts |
| DatabaseTitleList | Technology Research Database |
| Database_xml | – sequence: 1 dbid: RIE name: IEEE Xplore url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/ sourceTypes: Publisher |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1557-9948 |
| EndPage | 7714 |
| ExternalDocumentID | 10_1109_TIE_2019_2946541 8870254 |
| Genre | orig-research |
| GrantInformation_xml | – fundername: Tianjin grantid: TJSQNTJ-2017-02 – fundername: National Natural Science Foundation of China grantid: 61903120; 61873134; U1706228 funderid: 10.13039/501100001809 |
| GroupedDBID | -~X .DC 0R~ 29I 4.4 5GY 5VS 6IK 97E 9M8 AAJGR AARMG AASAJ AAWTH ABAZT ABQJQ ABVLG ACGFO ACGFS ACIWK ACKIV ACNCT AENEX AETIX AGQYO AGSQL AHBIQ AI. AIBXA AKJIK AKQYR ALLEH ALMA_UNASSIGNED_HOLDINGS ASUFR ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ CS3 DU5 EBS EJD HZ~ H~9 IBMZZ ICLAB IFIPE IFJZH IPLJI JAVBF LAI M43 MS~ O9- OCL P2P RIA RIE RNS TAE TN5 TWZ VH1 VJK AAYXX CITATION RIG 7SP 8FD L7M |
| ID | FETCH-LOGICAL-c291t-db1e62096735b897d7f2ba2d06ac4ad0d29ce0a8d12082aaa51b47973041116f3 |
| IEDL.DBID | RIE |
| ISSN | 0278-0046 |
| IngestDate | Mon Jun 30 10:18:28 EDT 2025 Tue Jul 01 00:16:33 EDT 2025 Thu Apr 24 23:11:50 EDT 2025 Wed Aug 27 02:39:16 EDT 2025 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 9 |
| Language | English |
| License | https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html https://doi.org/10.15223/policy-029 https://doi.org/10.15223/policy-037 |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c291t-db1e62096735b897d7f2ba2d06ac4ad0d29ce0a8d12082aaa51b47973041116f3 |
| Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 |
| ORCID | 0000-0002-5253-2944 0000-0001-6356-1655 |
| PQID | 2401124838 |
| PQPubID | 85464 |
| PageCount | 13 |
| ParticipantIDs | crossref_primary_10_1109_TIE_2019_2946541 ieee_primary_8870254 crossref_citationtrail_10_1109_TIE_2019_2946541 proquest_journals_2401124838 |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 2000 |
| PublicationDate | 2020-09-01 |
| PublicationDateYYYYMMDD | 2020-09-01 |
| PublicationDate_xml | – month: 09 year: 2020 text: 2020-09-01 day: 01 |
| PublicationDecade | 2020 |
| PublicationPlace | New York |
| PublicationPlace_xml | – name: New York |
| PublicationTitle | IEEE transactions on industrial electronics (1982) |
| PublicationTitleAbbrev | TIE |
| PublicationYear | 2020 |
| Publisher | IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher_xml | – name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| References | ref57 ref13 ref56 ref12 ref59 ref15 ref58 ref14 ref53 ref52 ref55 ref11 ref54 ref10 ref17 ref16 ref19 ref18 ref51 ref50 ref46 ref45 ref48 ref47 ref42 ref41 ref44 ref43 ref49 ref8 ref7 ref9 ref4 ref3 ref6 ref5 ref40 ref35 ref34 ref37 ref36 ref31 ref30 ref33 ref32 ref2 ref1 ref39 ref38 tho (ref27) 2019; 27 ref24 ref23 ref26 ref25 ref64 ref20 ref63 ref22 ref21 ref28 ref29 ref60 ref62 ref61 |
| References_xml | – ident: ref25 doi: 10.1177/1077546314558499 – ident: ref64 doi: 10.1016/j.ymssp.2018.11.018 – ident: ref56 doi: 10.1109/TAC.2018.2868026 – ident: ref50 doi: 10.1109/CDC.2018.8619350 – ident: ref9 doi: 10.1016/j.automatica.2016.09.024 – ident: ref41 doi: 10.1016/j.automatica.2012.09.002 – ident: ref2 doi: 10.1109/TIE.2019.2902834 – ident: ref20 doi: 10.1016/j.mechatronics.2004.11.004 – ident: ref40 doi: 10.1016/j.automatica.2017.07.033 – ident: ref49 doi: 10.1016/j.isatra.2013.12.021 – ident: ref61 doi: 10.1049/iet-cta.2014.0069 – ident: ref37 doi: 10.1002/rnc.1601 – ident: ref6 doi: 10.1109/TIE.2013.2262747 – ident: ref10 doi: 10.1109/TCYB.2018.2794972 – volume: 27 start-page: 1608 year: 2019 ident: ref27 article-title: Robust control designs of payload's skew rotation in a boom crane system publication-title: IEEE Trans Control Syst Technol doi: 10.1109/TCST.2018.2834879 – ident: ref1 doi: 10.1049/iet-cta.2012.0505 – ident: ref46 doi: 10.1109/TMECH.2016.2636251 – ident: ref21 doi: 10.1109/TCST.2013.2280464 – ident: ref23 doi: 10.1109/TIE.2013.2288200 – ident: ref63 doi: 10.1109/TSMC.2018.2871627 – ident: ref42 doi: 10.1109/IROS.1994.407375 – ident: ref57 doi: 10.1109/TIE.2008.2004660 – ident: ref12 doi: 10.1109/TAES.2018.2849904 – ident: ref14 doi: 10.1109/TIE.2013.2282594 – ident: ref19 doi: 10.1016/j.ymssp.2017.01.036 – ident: ref31 doi: 10.1109/TIE.2018.2793214 – ident: ref53 doi: 10.1109/TFUZZ.2017.2710952 – ident: ref29 doi: 10.1007/s10015-008-0586-5 – ident: ref13 doi: 10.1016/j.automatica.2004.01.021 – ident: ref32 doi: 10.1016/j.automatica.2012.10.007 – ident: ref45 doi: 10.1016/S1474-6670(17)58105-7 – ident: ref38 doi: 10.1109/TAC.2016.2594204 – ident: ref8 doi: 10.1109/TMECH.2014.2350535 – ident: ref47 doi: 10.1109/TIE.2010.2102318 – ident: ref36 doi: 10.1016/j.automatica.2016.11.012 – ident: ref18 doi: 10.1177/1077546309106142 – ident: ref62 doi: 10.1177/0142331213495438 – ident: ref51 doi: 10.1007/s11071-014-1753-y – ident: ref43 doi: 10.1109/9.956051 – ident: ref34 doi: 10.1109/9.788533 – ident: ref33 doi: 10.1080/00207170802061269 – ident: ref5 doi: 10.1109/TIE.2015.2414396 – ident: ref7 doi: 10.1016/j.automatica.2018.04.050 – ident: ref52 doi: 10.1115/1.4029627 – ident: ref26 doi: 10.1016/j.jsv.2015.01.042 – ident: ref48 doi: 10.1109/TCST.2015.2424925 – ident: ref55 doi: 10.1109/TSMC.2017.2703140 – ident: ref4 doi: 10.1109/TIE.2013.2286565 – ident: ref11 doi: 10.1049/iet-cta.2017.1106 – ident: ref17 doi: 10.1109/TIE.2017.2701760 – ident: ref39 doi: 10.1016/S0005-1098(02)00095-X – ident: ref35 doi: 10.1109/TAC.2007.904319 – ident: ref22 doi: 10.1016/j.autcon.2015.12.014 – ident: ref54 doi: 10.1109/TIE.2012.2183841 – ident: ref59 doi: 10.1016/j.isatra.2016.10.017 – ident: ref15 doi: 10.1109/TIE.2017.2772148 – ident: ref3 doi: 10.1109/TIE.2017.2668979 – ident: ref30 doi: 10.1109/TNNLS.2014.2302475 – ident: ref16 doi: 10.1109/TMECH.2017.2706304 – ident: ref60 doi: 10.1016/j.automatica.2014.07.023 – ident: ref44 doi: 10.1109/TAC.2002.800770 – ident: ref28 doi: 10.1016/j.mechatronics.2013.09.001 – ident: ref58 doi: 10.1016/j.automatica.2007.05.014 – ident: ref24 doi: 10.1109/TMECH.2014.2311825 |
| SSID | ssj0014515 |
| Score | 2.6529274 |
| Snippet | In practice, underactuated systems are widely used, and their control problems have attracted much attention in recent years. For safety concerns or transient... |
| SourceID | proquest crossref ieee |
| SourceType | Aggregation Database Enrichment Source Index Database Publisher |
| StartPage | 7702 |
| SubjectTerms | Composite variable constraints Constraints Control methods Control systems Couplings Cranes mechatronics Nonlinear control Nonlinear systems Payloads Pendulums Potential energy Safety State variable Sun Tower cranes Transient analysis Transient performance unactuated state constraints underactauted systems |
| Title | Nonlinear Control of Underactuated Systems Subject to Both Actuated and Unactuated State Constraints With Experimental Verification |
| URI | https://ieeexplore.ieee.org/document/8870254 https://www.proquest.com/docview/2401124838 |
| Volume | 67 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1NTxsxEB0BJzjQUkCkBeRDL5W6ydrxru0jjYIAiZxCm9vKnxJqlSCyuXDtH-_YuxsoIMRtDzMrSzMev7Fn3gB8VdRbIQ2mJbnhGS_zkJnY4DMMMjhZSupl7Ea-npQXN_xqVsw24Pu6F8Z7n4rPfD9-prd8t7CreFU2wA0Rm7c3YRMTt6ZXa_1iwItmWgGLjLGY9HVPkrkaTC_HsYZL9ZmK7GH0vyMozVR5EYjT6XL-Aa67dTVFJb_7q9r07cMzysb3Lvwj7LYwk5w1frEHG37-CXaekA_uw99Jw5Kh78moqVcni0DSHCQdu0oQipKWz5xgeIn3NaRekB9oWnLWCei5Q5VH-Qhd4--WafREvSS_blF8_GSMAPmJn6G9KTyAm_PxdHSRtSMZMssUrTNnqC8Zpj1iWBiphBOBGc1cXmrLtcsdU9bnWjrKEFtorQtquFAYRjgG1TIMD2Frvpj7IyDCUsz1hAzClugdVHuKaqXjIoQieN2DQWelyrZ85XHtf6qUt-SqQrtW0a5Va9cefFtr3DVcHW_I7kczreVaC_XguHOEqt3MywpBD6JSLofy8-taX2CbxTQ8lZ4dw1Z9v_IniFVqc5qc9B8kFucD |
| linkProvider | IEEE |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1NTxsxEB1ROLQcKC2tGkrBBy6Vusna8a7tI0VBgZKcQstt5U-papVUZHPh2j_esXc3BYoqbnuYWVl64_GMPfMG4FhRb4U0mJbkhme8zENmYoPPMMjgZCmpl7EbeTItx1f84rq43oBP614Y730qPvP9-Jne8t3CruJV2QA3RGzefgZbeO4XtOnWWr8Z8KKZV8AiZyymfd2jZK4Gs_NRrOJSfaYifxi9dwilqSr_uOJ0vpy9hEm3sqas5Ed_VZu-vX1A2vjUpe_CThtokpPGMl7Bhp-_hu079IN78Hva8GToG3LaVKyTRSBpEpKOfSUYjJKW0Zygg4k3NqRekM8ILjnpBPTcocpf-Ri8xt8t0_CJekm-fUfx0Z1BAuQrfob2rvANXJ2NZqfjrB3KkFmmaJ05Q33JMPERw8JIJZwIzGjm8lJbrl3umLI-19JRhtGF1rqghguFjoSjWy3D8C1szhdz_w6IsBSzPSGDsCXaB9WeolrpuAihCF73YNChVNmWsTyu_WeVMpdcVYhrFXGtWlx78HGt8ath6_iP7F6EaS3XItSDg84QqnY7LysMezAu5XIo9x_XOoLn49nksro8n355Dy9YTMpTIdoBbNY3K_8BI5faHCaD_QNVTepM |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Nonlinear+Control+of+Underactuated+Systems+Subject+to+Both+Actuated+and+Unactuated+State+Constraints+With+Experimental+Verification&rft.jtitle=IEEE+transactions+on+industrial+electronics+%281982%29&rft.au=Chen%2C+He&rft.au=Sun%2C+Ning&rft.date=2020-09-01&rft.issn=0278-0046&rft.eissn=1557-9948&rft.volume=67&rft.issue=9&rft.spage=7702&rft.epage=7714&rft_id=info:doi/10.1109%2FTIE.2019.2946541&rft.externalDBID=n%2Fa&rft.externalDocID=10_1109_TIE_2019_2946541 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0278-0046&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0278-0046&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0278-0046&client=summon |