Browsing NTNU Open by Author "Montano, Oscar"
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Model orbit output feedback tracking of underactuated mechanical systems with actuator dynamics
Herrera, Leonardo; Orlov, Yury; Montano, Oscar; Shiriaev, Anton (Journal article; Peer reviewed, 2019)Robust periodic motion generation is developed for a class of mechanical systems with actuator dynamics. The virtual constraint (VC) approach is first refined under incomplete state measurements and it is then extended to ...