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 …

Furuta′ s pendulum has been an excellent benchmark for the automatic control community
in the last years, providing, among others, a better understanding of model‐based Nonlinear …

Abstract An Active Disturbance Rejection Control (ADRC) scheme is proposed for a
trajectory tracking problem defined on a nonfeedback linearizable Furuta Pendulum …

This paper presents a coupled sliding-mode control (SMC) of inverted-pendulum systems.
An SMC law is designed to force a coupled sliding surface (which consists of sliding …

In this paper, we present a novel end-effector (payload) motion-based control development
approach for the regulation of underactuated overhead cranes, which is efficient even in the …

We develop a method to simplify the partial differential equations (PDEs) associated to the
potential energy for interconnection and dam** assignment passivity based control (IDA …

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 purpose of this book is to provide a detailed presentation of a novel block backstep**
based control law that can address the control problems of a large class of underactuated …

There are two issues in balancing a stick pivoting on a finger tip (or mechanically on a
moving cart): maintaining the stick angle near to vertical and maintaining the horizontal …

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 …