# Underactuated Mechanical Systems With Both Actuator and Actuated/Unactuated State Constraints: A Predictive Control-Based Approach

> Research article (IEEE/ASME Transactions on Mechatronics, 2022) · cited 39× · AI/ML

**Wikidata**: [openalex:W4313229363](https://www.wikidata.org/wiki/openalex:W4313229363)  
**Source**: https://4ort.xyz/entity/underactuated-mechanical-systems-with-both-actuator-and-actuated-unactuated-state-constraints-a-predictive-control-based