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 …

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 …

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 …

The explicit equations of motion for a general n n-body planar pendulum are derived in a
simple and concise manner. A new and novel approach for obtaining these equations using …

The pendulum control of the inverted-pendulum-on-a-cart (IPC) system is one of the most
important issues in nonlinear control theory and has been widely investigated. Nevertheless …

In this paper, the control problem of underactuated systems with mismatched and matched
uncertainties is addressed. Adaptive fuzzy backstepping controller is proposed to solve the …

In this paper, we consider the problem of stabilization of a translational oscillator with a
rotational actuator (TORA) system. In practical applications, TORA systems usually suffer …

The objective of this research project is to construct an affordable and durable stand-up
wheelchair, which will enable wheelchair users to adjust the vertical height of their chair …

We present a switching approach for the stabilization of the strongly damped inverted
pendulum cart system, provided that the pendulum is initialized inside of the upper-half …

In this paper, generalized form of transfer function model of a cart inverted pendulum system
is presented. Furthermore, robustness analysis of PID-based cart inverted pendulum using …