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Tracking control of an underactuated rigid body with a coupling input force

Korczak S.

Archives of Control Sciences

2014

Vol. 24, no. 3

321--332

This paper presents a set of basic problems concerning the control of an underactuated dynamic system. Exemplary system of a planar rigid body with a coupling input force is described. Lie brackets method is used to show accessibility of the system. A tracking problem is solved with computed torque algorithm. The coupling force makes the convergence to zero of all state variables errors impossible. After numerical simulation, stability of the system is mentioned.

Measuring Coupling Forces Woodcutters Exert on Saws in Real Working Conditions

Malinowska-Borowska J., Harazin B., Zieliński G.

International Journal of Occupational Safety and Ergonomics

2012

Vol. 18, No. 1

77--83

Prolonged exposure to hand–arm vibration (HAV) generated by chainsaws can cause HAV syndrome, i.e., disorders in the upper extremities of forestry workers. Progress of HAV syndrome depends on the intensity of mechanical vibration transmitted throughout the body, which is directly proportional to coupling forces applied by the woodcutter to a vibrating tool. This study aimed to establish a method of measuring coupling forces exerted by chainsaw workers in real working conditions. Coupling forces exerted by workers with their right and left hands were measured with a hydro-electronic force meter. Wood hardness, the type of chainsaw and the kind of forest operation, i.e., felling, cross-cutting or limbing, were considered.