Underactuated robotics is an emerging research direction in the field of robotics. The control
input of the underactuated robot is less than the degree of freedom of the system. It has the …

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 …

This study examines the mechanical systems with an arbitrary number of passive (non-
actuated) degrees of freedom and proposes an analytical method for computing coefficients …

This paper presents a comprehensive comparative study for the tracking control of a class of
underactuated nonlinear uncertain systems. A given nonlinear model of the underactuated …

A new stable adaptive neural network (ANN) control scheme for the Furuta pendulum, as a
two-degree-of-freedom underactuated nonlinear system, is proposed in this paper. This …

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 …

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

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 …

This paper investigates a framework for the application of robust and smooth second order
sliding mode control to a class of underactuated mechanical systems for the realization of …

A second order sliding mode control is developed to solve the tracking control problem for
an inertia wheel pendulum. The periodic motion of the pendulum will be at the upright …