# Constraint mapping in a feedback linearization/MPC scheme for trajectory tracking of underactuated multibody systems

> Research article (IFAC-PapersOnLine, 2015) · cited 18× · AI/ML

**Wikidata**: [openalex:W2250660304](https://www.wikidata.org/wiki/openalex:W2250660304)  
**Source**: https://4ort.xyz/entity/constraint-mapping-in-a-feedback-linearization-mpc-scheme-for-trajectory-tracking-of-underactuated-multibody-systems