This paper describes some important classes of two degrees of freedom of underactuated
mechanical system and also surveys review of the recent state‐of‐the‐art concerning the …

For years, the pendulum system has been the most popular experimental setup for
education and research in robotics and control theory. This paper examines the different …

This thesis is devoted to nonlinear control, reduction, and classification of underactuated
mechanical systems. Underactuated systems are mechanical control systems with fewer …

This survey provides a brief overview on the control Lyapunov function (CLF) and control
barrier function (CBF) for general nonlinear-affine control systems. The problem of control is …

The mobile inverted pendulum is developed and tested for an intelligent control experiment
of control engineers. Intelligent control algorithms are tested for the control experiment of a …

The paper considers the design of a nonlinear controller for the double inverted pendulum
(DIP), a system consisting of two inverted pendulums mounted on a cart. The swingup …

This paper presents an active search trajectory synthesis technique for autonomous mobile
robots with nonlinear measurements and dynamics. The presented approach uses the …

Numerous robotic tasks associated with underactuation have been studied in the literature.
For a large number of these in the plane, the mechanical models have a cyclic variable, the …

This paper proposes a robust feedback controller using Linear Matrix Inequalities (LMIs)
formulation for the stabilization of an underactuated mechanical system, namely the Inertia …

The growth in automated manufacturing since the '60s has motivated the study of the control
and motion planning of many types of mechanical systems, such as industrial manipulators …