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 paper presents a controller-design methodology for a class of underactuated
mechanical systems that are affected by parametric uncertainties and external disturbances …

In this paper, the balance control of a ball and beam system is considered. Based on the TS
fuzzy modeling, the dynamic model of the ball and beam system is formulated as a strict …

Reinforcement learning (RL) is an effective method for the design of robust controllers of
unknown nonlinear systems. Normal RLs for robust control, such as actor‐critic (AC) …

Reinforcement learning (RL) is an effective method to design a robust controller for unknown
nonlinear systems. Uncertainty in the worst case requires a large state-action space. Hence …

In practice, the parameters of the flight controller of the quadrotors are commonly tuned
experimentally with respect to a certain type of reference, such as the step reference and the …

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 …

As a complex nonlinear system, the first-order incremental relationship between the state
variables of the beam and ball system (BABS) is asymmetric in the definition domain of the …

At beginning, the kinematic model and dynamic model of a differential mobile robot (DMR),
and the dynamic model of left‐and right‐wheel DC motors are combined to be the controlled …

In this paper, a systematic procedure for controller design is proposed for a class of
nonlinear underactuated systems (UAS), which are non-feedback linearizable but exhibit a …