Nonlinear Control of Underactuated Systems Subject to Both Actuated and Unactuated State Constraints With Experimental Verification - Chen, He; Sun, Ning (IEEE transactions on industrial electronics (1982), 2020)
Keywords: 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