# Constraint-Based Control Design for Uncertain Underactuated Mechanical System: Leakage-Type Adaptation Mechanism

> Research article (IEEE Transactions on Systems Man and Cybernetics Systems, 2020) · cited 34× · AI/ML

**Wikidata**: [openalex:W3016155013](https://www.wikidata.org/wiki/openalex:W3016155013)  
**Source**: https://4ort.xyz/entity/constraint-based-control-design-for-uncertain-underactuated-mechanical-system-leakage-type-adaptation-mechanism