Underactuated systems - input coupling problems

Sebastian Korczak
(Research started in December 2012)

Publications & conferences:
- Sebastian Korczak, Chaotic behaviors of an underactuated system in the trajectory tracking task, Archive of Applied Mechanics, Special, 1-2 vol. 88, Online First, 30-09-2017 (Full paper, DOI: 10.1007/s00419-017-1297-y);
- Sebastian Korczak, Nonlinear behaviors of underactuated systems in the trajectory tracking task, Recent advances in Mechanics. Book of abstracts, 9th German-Greek-Polish Symposium, Orthodox Academy of Crete, Kolympari, Greece, September 2016 (Book of abstracts);
- Sebastian Korczak, Dynamics and stability of underactuated systems with input coupling​, PhD thesis, abstract, Februar 2016;
- Sebastian Korczak, Dynamics of underactuated mechanical systems in control task​, 3rd Polish Congress of Mechanics - Gdańsk, 8-11 September 2015 (Book of short papers);
- Sebastian Korczak, Control of underactuated systems with coupling input forces, GAMM 86th Annual Scientific Conference, Lecce - Italy, marzec 2015; (abstract);
- Sebastian Korczak, Coupling inputs problem in underactuated systems (in Polish), XI Konference „New growth directions in mechanics”, March 2015;
- Sebastian Korczak, Tracking control of an underactuated rigid body with a coupling input force, Archives of Control Sciences nr. 3 vol. 24, 2014; (full text, animation);
- Sebastian Korczak, Autonomous underactuated vehicle prototype, V International Conference "Mechatronic Systems of Vehicles and Construction Machines", Nov. 2013; (poster);
- Sebastian Korczak, Tracking control of an underactuated vehicle, proceedings of XXth workshop by Polish association of computer simulation, June 2013;

Additional videos

Computed torque + PD feedback. Position control with eccentric force.

Video 1 from MyInventions on Vimeo.

Remote control test with blocked caster wheels

Video 2 from MyInventions on Vimeo.

© Copyright Sebastian Korczak 2009 - 2024 polish versionpolish version