This paper presents an approach to achieve trajectory tracking for nonlinear systems.
Combining the linear regulator theory with Takagi-Sugeno (TS) fuzzy methodology; an …

Nowadays, the major advancements in the control of motion systems are due to the
automatic control theory. Motion control systems are characterized by complex nonlinear …

The boost converter is mostly used as a DC–DC converter, but two boost converter power
stages can be configured to perform the DC–AC conversion. In this case, the control system …

We consider planning and control problems for underactuated manipulators, a special
instance of mechanical systems having fewer input commands than degrees of freedom …

This paper presents two biped designs for miniature climbing robots. The designs use under-
actuation to satisfy space and weight constraints. In the first design, one actuator provides …

This work deals with the discrete-time modeling of a boost DC-to-DC power converter by
means of a discrete Lagrangian formulation based on the midpoint rule integration method …

In this paper a new PI+ PD fuzzy controller, which includes a dynamic switching fuzzy
system (DFSFS), is applied to swing-up an underactuated mechanism: the pendubot. This …

This paper discusses the visual servo control of the inverted pendulum system under fixed-
camera configuration. The control goal is to stabilize the system using a vision system …

This work deals with the novel application of the sliding mode (discontinuous) output
regulation theory to a nonlinear electrical circuit, the so-called boost power converter. This …

In this work we address the problem of nonlinear output regulation of an underactuated
system by means of discontinuous control actions, in particular, the sliding mode output …