https://m2.mtmt.hu/ hun 2026-04-21 00:37 true true 1 2 2 1 100 1 2 DESC publishedYear false ASC firstAuthor true ASC title true JournalArticle 31976021 ADMIN_APPROVED true 0 false 2025-12-31T00:39:48.916+0000 2025-01-12T12:46:42.625+0000 2021-04-20T14:46:26.316+0000 true 10063324 Bodor Bálint /api/author/10063324 Author true 10063324 2025-05-22T09:48:41.027+0000 2025-05-22T09:48:41.027+0000 2025-01-12T09:50:56.502+0000 true 10065569 Pécsi Éva /api/admin/10065569 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 Bodor, Bálint Predictive trajectory tracking algorithm of underactuated systems based on the calculus of variations true true /api/journal/10006367 REVIEWED true false 10006367 false 10006367 true 1555-1415 1555-1423 Journal FOREIGN 16 8 081002 081002 11 2021 The tracking control of underactuated systems is a challenging problem due to the structural differences compared to fully actuated systems. Contrarily to fully actuated systems, resolving the inverse kinematics problem of underactuated systems is not possible independently from the dynamic equations. Instead, the inverse dynamics must be addressed. It is common to extend the computed torque control (CTC) technique with servoconstraints. Besides the CTC's clearness, the stability of the system cannot be always guaranteed. A novel predictive controller (PC) is presented in this paper. Our PC applies the variational principle to design the motion of the system in order to achieve a stable motion with the lowest possible tracking error. To demonstrate the applicability and the performance of the PC method, a numerical study is presented for a planar manipulator resulting in about 20% RMS error compared to the CTC method from the literature. true 2021 true true true false true false NONE 2025-12-31 false 4 0 4 1 2 4 4 4 3 4 4 1 1 1 3 0 4 1 4 1 0 4 4 Q2 false 10019719 false false false 2021-07-19T14:48:52.620+0000 MTA-BME Gépek és Járművek Dinamikája Kutatócsoport (BME / GPK / MM); Műszaki Mechanikai Tanszék (BME / GPK) 3 12 2 3 0 true Language 10002 /api/language/10002 Angol English true 2 true PersonAuthorship 96037879 /api/authorship/96037879 1 0.33333334 true false Author 10063324 /api/author/10063324 Bodor Bálint true 10063324 true Bodor Bálint true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PersonAuthorship 96037880 /api/authorship/96037880 2 0.33333334 false false Author 10019719 /api/author/10019719 Zelei Ambrus true 10019719 true Zelei Ambrus true false false AuthorshipType 1 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DIRECT true true /api/publication/31976021 <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="10063324"><a href="/gui2/?type=authors&mode=browse&sel=10063324" target="_blank">Bodor Bálint (<span class="authorship-author-name">Bodor Bálint</span> <span class="authorAux-mtmt"> műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/Műszaki Mechanikai Tanszék</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 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<span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/Műszaki Mechanikai Tanszék</span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;31976021" target="_blank">Predictive trajectory tracking algorithm of underactuated systems based on the calculus of variations</a></div> <div> <span class="journal-title">JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS</span> <span class="journal-issn">(<a target="_blank" href="https://portal.issn.org/resource/ISSN/1555-1415">1555-1415</a> <a target="_blank" href="https://portal.issn.org/resource/ISSN/1555-1423">1555-1423</a>)</span>: <span class="journal-volume">16</span> <span class="journal-issue">8</span> <span class="page"> Paper 081002. 11 p. </span> <span class="year">(2021)</span> </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Nyelv: Angol | </span> <span class="identifiers"> <span class="id identifier 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mtid="10019715"><a href="/gui2/?type=authors&mode=browse&sel=10019715" target="_blank">László L Kovács (<span class="authorship-author-name">Kovács László</span> <span class="authorAux-mtmt"> Robotika</span>) </a> </span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10019719"><a href="/gui2/?type=authors&mode=browse&sel=10019719" target="_blank">Ambrus Zelei (<span class="authorship-author-name">Zelei Ambrus</span> <span class="authorAux-mtmt"> Műszaki mechanika, járműfejlesztés</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/<span title="Műszaki Mechanikai Tanszék">MM</span>/MTA-BME Gépek és Járművek Dinamikája Kutatócsoport</span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;3173068" target="_blank">Stabilization of Internal Dynamics of Underactuated Systems by Periodic Servo-Constraints</a></div> <div> <span 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