An underactuated mechanical system (UMS) is a system which has fewer independent
control actuators than degrees of freedom to be controlled. Control of UMS is considered as …

Furuta′ s pendulum has been an excellent benchmark for the automatic control community
in the last years, providing, among others, a better understanding of model‐based Nonlinear …

We propose a constructive control design for stabilization of non-periodic trajectories of
underactuated robots. An important example of such a system is an underactuated “dynamic …

Abstract An Active Disturbance Rejection Control (ADRC) scheme is proposed for a
trajectory tracking problem defined on a nonfeedback linearizable Furuta Pendulum …

This technical brief investigates virtual holonomic constraints for Euler-Lagrange systems
with n degrees-of-freedom and n-1 controls. In our framework, a virtual holonomic constraint …

This paper provides an introduction to several problems and techniques related to
controlling periodic motions of dynamical systems. In particular, we consider planning …

The control of underactuated balance robots is aimed at performing both the external
(actuated) subsystem trajectory tracking and internal (unactuated) subsystem balancing …

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 …

In this manuscript, new combination methodology is proposed, which named combining
Passivity-Based Control and Linear Quadratic Regulator (for short, CPBC-LQR), to support …

The purpose of this book is to provide a detailed presentation of a novel block backstepping
based control law that can address the control problems of a large class of underactuated …