Control of Underactuated Mechanical Systems

Control of Underactuated Mechanical Systems: Stabilization and Limit Cycle Generation clearly explains stabilization and limit cycle generation in underactuated mechanical systems (UMS),addressing control design challenges and demonstrating concepts through real-time experiments.The book begins with advancements in UMS, introducing key concepts such as stabilization and limit cycle generation, supported by literature examples. It then focuses on the inertia wheel inverted pendulum, presenting a detailed discussion. The second part tackles stabilization, offering various control solutions validated through numerical simulations and real-time experiments. The final part addresses stable limit cycle generation, detailing three proposed control solutions and their validation through different case studies.This book is a valuable resource for PhD and Master students, engineers, researchers, and educators. It provides guidance in robotics and automatic control, utilizing a simplified methodology for controlling underactuated mechanical systems.
- Addresses stabilization and stable limit cycle generation in underactuated mechanical systems amid perturbations- Explores the design, development, and validation of robust control solutions- Illustrates concepts through case studies- Validates control solutions with numerical simulations and real-time experiments

Afef Hfaiedh received her Master's degree in Automatic Control, Robotics, and Signal Processing in 2015 and her Ph.D. in Automatic Control in 2021. She is a postdoctoral researcher at RISC-LAB and a part-time professor at the University of Tunis El Manar, specializing in nonlinear control applications in robotics and underactuated mechanical systems.Ahmed Chemori earned his M.Sc. and Ph.D. in Automatic Control from the Grenoble Institute ofTechnology in 2001 and 2005, respectively. He has worked as a research and teaching assistant and is currently a senior research scientist at LIRMM, University of Montpellier, focusing on nonlinear control and its applications in robotics.

Part I: General context and case study1. Introduction2. The inertia wheel inverted pendulum case studyPart II: Control solutions for the stabilisation problem3. A revisited adaptive sliding mode control scheme4. Nonlinear RISE feedback control scheme 5. Model reference adaptive IDA-PBC approach Part III: Control solutions for stable limit cycle generation problem6. Partial feedback linearization and optimization7. Nonlinear Model Predictive control8. Dual Model Free control