Controlling underactuated mechanical systems: A review and open problems

Research output: Chapter in Book/Report/Conference proceedingChapter


This chapter provides a short review on the popular yet still very important area of controlling underactuated mechanical systems. New solutions to the simultaneous stabilization and tracking problem are proposed for nonholonomic mobile robots using state and output feedback. Some open problems are discussed with a unique objective to solicit fundamentally novel techniques for the further development of modern nonlinear control theory.

Original languageEnglish (US)
Title of host publicationAdvances in the Theory of Control, Signals and Systems with Physical Modeling
PublisherSpringer Verlag
Number of pages12
ISBN (Print)9783642161346
StatePublished - 2010

Publication series

NameLecture Notes in Control and Information Sciences
ISSN (Print)0170-8643

ASJC Scopus subject areas

  • Library and Information Sciences


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