Control of Underactuated Mechanical Systems

Part I: General context and case study
1. Introduction
2. The inertia wheel inverted pendulum case study

Part II: Control solutions for the stabilisation problem
3. A revisited adaptive sliding mode control scheme
4. Nonlinear RISE feedback control scheme
5. Model reference adaptive IDA-PBC approach

Part III: Control solutions for stable limit cycle generation problem
6. Partial feedback linearization and optimization
7. Nonlinear Model Predictive control
8. Dual Model Free control

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• Química industrial e tecnologias de fabrico
• Ciência dos materiais
• Engenharia mecânica
• Engenharia do controlo automático

Adaptive sliding mode control; Control of UMSs; Dynamics; Fully actuated; Holonomic constraints; Hopping robots; IDA-PBC controller; Inertia wheel; Inertia wheel inverted pendulum; Limit cycle; Limit cycle generation; Mechanical systems; Model predictive control; Model reference adaptive control (MRAC); Model-free control; Non-minimum-phase system; Non-minimum-phase systems; Numerical simulations; Optimization; Partial feedback linearization; Periodic trajectories; Persistent disturbances; Real-time experiments; Redundant mechanical systems; Reference periodic trajectories; RISE feedback control; Simulations; Stabilizing control; Strict-feedback transformation; Underactuated mechanical systems; Underactuated systems;