In this chapter we discuss the control of underactuated mechanical systems. Underactuated
mechanical systems have fewer control inputs than degrees of freedom and arise in …

As a result of the increase in robots in various fields, the mechanical stability of specific
robots has become an important subject of research. This study is concerned with the …

Applying attractor reconstruction techniques and other chaotic measurements, it is shown
that the long-term dynamics of a vertical, underactuated, two-degrees-of-freedom robot …

There are two important ways in which artificial neural networks are applied for dynamic
system identification: preprocessing the training values, and adapting the architecture of the …

The modeling and control of underactuated robotic manipulators provide several
challenges. Many of these systems would benefit from a reliable algorithm for producing …

This work presents a controlled synchronization strategy for a pair of underactuated inverted
pendula. The ultimate aim is to synchronize the pendula to a stable periodic orbit. This goal …

Experiment investigation of planar five-bar underactuated mechanism is carried out. The
focus is on chaotic motion and the edge of chaos, at which the motion of the mechanism …

There are two ways to improve the identification process of a dynamic system using an
artificial neural network: 1) preprocessing the training values to extract characteristics of the …

In this paper we report the use of an extension of the Ott-Grebogi-Yorke (OGY) approach for
controlling chaos, but instead of using a Poincaré Map we use the First Return Map (FRM) of …

Muchos procesos de ingeniería están compuestos por sistemas subactuados, es decir, por
unidades en los que el número de actuadores es estrictamente menor que el número de …