# Tracking control design for a multi-degree underactuated flexible-cable overhead crane system with large swing angle based on singular perturbation method and an energy-shaping technique

> Research article (Journal of Vibration and Control, 2019) · cited 12× · AI/ML

**Wikidata**: [openalex:W2921137257](https://www.wikidata.org/wiki/openalex:W2921137257)  
**Source**: https://4ort.xyz/entity/tracking-control-design-for-a-multi-degree-underactuated-flexible-cable-overhead-crane-system-with-large-swing-angle-bas