https://m2.mtmt.hu/ eng 2026-04-30 13:55 JournalArticle 35186625 VALIDATED true First published online September 30, 2024 Funding Agency and Grant Number: Hungarian National Research, Development and Innovation Office [NKFI-FK18 128636]; Ministry of Culture and Innovation of Hungary from the National Research, Development and Innovation Fund [TKP-6-6/PALY-2021, TKP2021] Funding text: The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This research reported in this paper has been carried out at the Budapest University of Technology and Economics and at the Audi Hungaria Department of Whole Vehicle Engineering at Szechenyi Istvan University in Gyor and has been supported by the Hungarian National Research, Development and Innovation Office (Grant no. NKFI-FK18 128636) and by Project no. TKP-6-6/PALY-2021 provided by the Ministry of Culture and Innovation of Hungary from the National Research, Development and Innovation Fund, financed under the TKP2021-NVA funding scheme. 0 false 2026-04-27T07:44:31.981+0000 2025-11-26T13:22:09.832+0000 2024-08-27T20:12:57.236+0000 true 10053227 Zana Roland Reginald /api/author/10053227 Author true 10053227 2025-11-26T13:21:29.352+0000 2025-11-26T13:21:29.352+0000 2025-11-26T13:21:36.169+0000 true 10072271 Andódy Katalin /api/admin/10072271 Admin true 2025-11-26T13:22:10.051+0000 true 10072271 Andódy Katalin /api/admin/10072271 Admin true true false true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle true 10000059 Article true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle /api/subtype/10000059 Szakcikk SubType 101 true 10000059 true 1 /api/category/1 Category true 1 Zana, Roland Reginald Discrete Time Stability of Augmented Lagrangian Formalism based Underactuated Inverse Dynamics Control Method true true /api/journal/30231 REVIEWED true false 30231 false 30231 true 1077-5463 1741-2986 Journal FOREIGN 31 19-20 4445 4468 4445 24 2025 Stability problems of robotic systems arise sometimes suddenly, seemingly for no reason. The digital time sampling is often the main cause of these instabilities. Discrete models, which are capable of the prediction of stability, are available for low-degree-of-freedom template models of linear position and force control. However, for the inverse dynamics control of underactuated systems, the literature has a lack of generally applicable results related to the effect of time discretization. Several control approaches are available in the literature out of which a widely used one, the augmented Lagrangian formalism and its stability properties are analysed in this work. Theoretical stability properties are obtained for a generally usable, linear, underactuated, two-degree-of-freedom constrained template model. The actuator dynamics, the finite difference approximation of the feedback velocity and the filtering of the feedback data are considered in the model. These phenomena strongly affects the stability properties. The theoretically obtained stability maps are experimentally validated on an underactuated crane-like indoor robot. The position and orientation accuracy of the robot were assessed: the absolute position error was below 30 mm and the orientation error was below 3°. © The Author(s) 2024. true NATIONAL 2024 true true true false true false NONE 2026-04-27 false 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 10 10 Q2 false false false false 2024-10-13T16:16:05.880+0000 Járműfejlesztési Tanszék (SZE / AHJK); Műszaki Mechanikai Tanszék (BME / GPK) 2 9 2 2 0 true Language 10002 /api/language/10002 Angol English true 2 true PersonAuthorship 118725798 /api/authorship/118725798 1 0.5 true false true Author 10053227 /api/author/10053227 Zana Roland Reginald true 10053227 true Zana Roland Reginald true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PersonAuthorship 118725799 /api/authorship/118725799 2 0.5 false true Author 10019719 /api/author/10019719 Zelei Ambrus true 10019719 true Zelei Ambrus true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PublicationIdentifier 27567158 /api/publicationidentifier/27567158 PlainSource 6 /api/publicationsource/6 PublicationSourceType 10001 /api/publicationsourcetype/10001 true true true DOI DOI https://doi.org/@@@ true true 6 true IDENTICAL 10.1177/10775463241280339 https://doi.org/10.1177/10775463241280339 false true PublicationIdentifier 29894935 /api/publicationidentifier/29894935 PlainSource 141 /api/publicationsource/141 PublicationSourceType 10006 /api/publicationsourcetype/10006 true true true Kiadónál At publisher @@@ true true 141 true IDENTICAL https://journals.sagepub.com/doi/10.1177/10775463241280339 https://journals.sagepub.com/doi/10.1177/10775463241280339 false true PublicationIdentifier 27636543 /api/publicationidentifier/27636543 PlainSource 1 /api/publicationsource/1 PublicationSourceType 10003 /api/publicationsourcetype/10003 false true true WoS WoS https://www.webofscience.com/wos/woscc/full-record/@@@ true true 1 true IDENTICAL 001324294700001 https://www.webofscience.com/wos/woscc/full-record/001324294700001 false true PublicationIdentifier 27636541 /api/publicationidentifier/27636541 PlainSource 3 /api/publicationsource/3 PublicationSourceType 10003 /api/publicationsourcetype/10003 false true true Scopus Scopus http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-@@@ true true 3 true IDENTICAL 85205593533 http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85205593533 false true PublicationIdentifier 26969415 /api/publicationidentifier/26969415 PlainSource 40 /api/publicationsource/40 PublicationSourceType 10006 /api/publicationsourcetype/10006 true true true Egyéb URL Other URL @@@ true true 40 true https://phd.gpk.bme.hu/pub/s/j/l9/t3?3002372 https://phd.gpk.bme.hu/pub/s/j/l9/t3?3002372 false true Classification 10807 /api/classification/10807 true true SjrRating 11552612 /api/sjrrating/11552612 46 0.49 journal RatingType 10002 /api/ratingtype/10002 sjr true true ClassificationExternal 2202 /api/classificationexternal/2202 true 2202 true Q2 DIRECT true true /api/publication/35186625 <div class="JournalArticle Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <img title="Idézőközlemény" style="float: left" src="/frontend/resources/grid/publication-citation-icon.png"> <div class="autype autype0"> <span class="author-name" mtid="10053227"><a href="/gui2/?type=authors&mode=browse&sel=10053227" target="_blank">Zana Roland Reginald ✉ (<span class="authorship-author-name">Zana Roland Reginald</span> <span class="authorAux-mtmt"> műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Mechanical Engineering">FME</span>/Department of Applied Mechanics</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10019719"><a href="/gui2/?type=authors&mode=browse&sel=10019719" target="_blank">Zelei Ambrus (<span class="authorship-author-name">Zelei Ambrus</span> <span class="authorAux-mtmt"> Műszaki mechanika, járműfejlesztés</span>) </a> </span> <span class="author-affil"><span title="Széchenyi István University">Széchenyi István University</span>/<span title="Audi Hungaria Faculty of Automotive Engineering">AHFAE</span>/Department of Vehicle Development</span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;35186625" target="_blank">Discrete Time Stability of Augmented Lagrangian Formalism based Underactuated Inverse Dynamics Control Method</a></div> <div> <span class="journal-title">JOURNAL OF VIBRATION AND CONTROL</span> <span class="journal-issn">(<a target="_blank" href="https://portal.issn.org/resource/ISSN/1077-5463">1077-5463</a> <a target="_blank" href="https://portal.issn.org/resource/ISSN/1741-2986">1741-2986</a>)</span>: <span class="journal-volume">31</span> <span class="journal-issue">19-20</span> <span class="page"> pp 4445-4468 </span> <span class="year">(2025)</span> </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Language: English | </span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="10.1177/10775463241280339" target="_blank" href="https://doi.org/10.1177/10775463241280339"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="https://journals.sagepub.com/doi/10.1177/10775463241280339" target="_blank" href="https://journals.sagepub.com/doi/10.1177/10775463241280339"> At publisher </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="001324294700001" target="_blank" href="https://www.webofscience.com/wos/woscc/full-record/001324294700001"> WoS </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="85205593533" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85205593533"> Scopus </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="https://phd.gpk.bme.hu/pub/s/j/l9/t3?3002372" target="_blank" href="https://phd.gpk.bme.hu/pub/s/j/l9/t3?3002372"> Other URL </a> </span> </span> <OnlyViewableByAuthor><div class="ratings"> <div class="journal-subject">Journal subject: Scopus - Aerospace Engineering&nbsp;&nbsp;&nbsp;Rank:&nbsp;Q2</div> <div class="journal-subject">Journal subject: Scopus - Automotive Engineering&nbsp;&nbsp;&nbsp;Rank:&nbsp;Q2</div> <div class="journal-subject">Journal subject: Scopus - Materials Science (miscellaneous)&nbsp;&nbsp;&nbsp;Rank:&nbsp;Q2</div> <div class="journal-subject">Journal subject: Scopus - Mechanical Engineering&nbsp;&nbsp;&nbsp;Rank:&nbsp;Q2</div> <div class="journal-subject">Journal subject: Scopus - Mechanics of Materials&nbsp;&nbsp;&nbsp;Rank:&nbsp;Q2</div> </div></OnlyViewableByAuthor> <div class="publication-citation"> <a target="_blank" href="/api/publication?cond=citations.related;eq;35186625&sort=publishedYear,desc&sort=title"> Number of cited publications: 10 </a> </div> <div class="mtid"><span class="long-pub-mtid">Publication: 35186625</span> | <span class="status-data status-VALIDATED"> Validated </span> Core Citing | <span class="type-subtype">Journal Article ( Article ) </span> | <span class="pub-category">Scientific</span> | <span class="publication-sourceOfData">kézi felvitel</span> </div> <div class="notDuplums"><a target="_blank" href="/api/publication/35186625/notduplums">320 marked as not duplum</a> </div> <div class="lastModified">Last Modified: 2025.11.26. 14:22 Katalin Andódy (BME admin4) </div> <pre class="comment" style="margin-top: 0; margin-bottom: 0;"><u>Comments</u>: First published online September 30, 2024 Funding Agency and Grant Number: Hungarian National Research, Development and Innovation Office [NKFI-FK18 128636]; Ministry of Culture and Innovation of Hungary from the National Research, Development and Innovation Fund [TKP-6-6/PALY-2021, TKP2021] Funding text: The author(s) disclosed receipt of the following financial support for the res...</pre> </div></div>