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What is Servo-Constraint Analysis in Underactuated Systems about?

The paper discusses the servo-constraint realization for underactuated mechanical systems, where the number of control inputs is less than the degrees of freedom. It emphasizes the realization of servo-constraints, which can be orthogonal or tangential, and formulates the governing equations as either ordinary differential equations (ODEs) or differential-algebraic equations (DAEs). The study also addresses the existence of solutions related to differentially flat and non-flat problems, highlighting the cha

Author

Nguyen Van Quyen

Language

EN