Problems in bordering fields associated with partial stability and stabilization of nonlinear
dynamic systems, including partial stability and stabilization by part of coordinates of the …

We present a constructive tool for generation and orbital stabilization of periodic solutions for
underactuated nonlinear systems. Our method can be applied to any mechanical system …

The Furuta pendulum consists of an arm rotating in the horizontal plane and a pendulum
attached to its end. Rotation of the arm is controlled by a DC motor, while the pendulum is …

This paper addresses the energy‐based swing‐up control problem for the Acrobot, a two‐
link underactuated robot with a single actuator at the joint of the two links. In line with the …

The paper suggests an explicit form of a general integral of motion for some classes of
dynamical systems including n-degrees of freedom Euler–Lagrange systems subject to (n-1) …

The standard control problem of the pendubot refers to the task of stabilizing its equilibrium
configuration with the highest potential energy. Linearization of the dynamics of the …

This paper concerns a swing-up control problem for a three-link gymnastic planar robot in a
vertical plane with its first joint being passive (unactuated) and the rest being active …

This brief concerns the energy-based swing-up control for a remotely driven acrobot (RDA)
which is a 2-link planar robot with the first link being underactuated and the second link …

The problem of swinging up inverted pendulums has often been solved by stabilizing a
particular class of homoclinic structures present in the dynamics of a physical pendulum …

This paper presents a new controller for swinging up the spherical pendulum. The problem
of stabilizing the upright equilibrium of the spherical pendulum is typically solved in two …