Trajectory tracking control of an underactuated capsubot
(2015)
Journal Article
Huda, M. N., & Yu, H. (2015). Trajectory tracking control of an underactuated capsubot. Autonomous Robots, 39(2), 183-198. https://doi.org/10.1007/s10514-015-9434-3
Trajectory tracking control of underactuated systems is one of the challenging issues. This paper proposes a two-stage control strategy for the trajectory tracking of a class of underactuated mechanical systems. Two new acceleration profiles for the... Read More about Trajectory tracking control of an underactuated capsubot.