This study examines the mechanical systems with an arbitrary number of passive (non-
actuated) degrees of freedom and proposes an analytical method for computing coefficients …

The growth in automated manufacturing since the '60s has motivated the study of the control
and motion planning of many types of mechanical systems, such as industrial manipulators …

In this chapter an adaptive sliding mode controller for the Furuta pendulum is proposed. The
Furuta pendulum is a class of underactuated mechanical systems commonly used in many …

A new stable adaptive neural network (ANN) control scheme for the Furuta pendulum, as a
two-degree-of-freedom underactuated nonlinear system, is proposed in this paper. This …

In this paper, an adaptive controller is proposed to balance a rotary inverted pendulum with
time-varying uncertainties. The goal of the control is to bring the pendulum close to the …

We study the problem of motion planning for underactuated mechanical systems. The idea is
to reduce complexity by imposing via feedback a sufficient number of invariants and then to …

The purpose of this paper is to introduce a new trajectory tracking controller applied to the
Furuta pendulum; where the arm tracks a desired time-varying trajectory, while the …

This brief addresses the problem of swing up and stabilization for inverted pendulum. It is
shown that the stable manifold method, recently proposed for approximately solving …

In this paper, a new composite scheme is proposed, where the total control action is
composed of the sum of a feedback-linearization-based controller and an energy-based …

We consider a benchmark example of a three-link planar biped walker with torso, which is
actuated in between the legs. The torso is thought to be kept upright by two identical …