Conventional industrial robots with the rigid actuation technology have made great progress
for humans in the fields of automation assembly and manufacturing. With an increasing …

This paper surveys the recent advances in marine mechatronic systems from a control
perspective. The survey is by no means exhaustive, but introduces some notable results in …

In the field of modern industrial engineering, many mechanical systems are underactuated,
exhibiting strong nonlinear characteristics and high flexibility. However, the lack of control …

In practice, underactuated systems are widely used, and their control problems have
attracted much attention in recent years. For safety concerns or transient performance …

Underactuated robotics is an emerging research direction in the field of robotics. The control
input of the underactuated robot is less than the degree of freedom of the system. It has the …

This paper addresses the problem of exponentially stabilizing periodic orbits in a special
class of hybrid models-systems with impulse effects-through control Lyapunov functions. The …

Nonholonomic systems provide an important class of mechanical control systems. One
reason for this importance is that nonintegrability is essential to both the mechanics and the …

Stability theory has allowed us to study both qualitative and quantitative properties of
dynamical systems, and control theory has played a key role in designing numerous …

This book presents methods to study the controllability and the stabilization of nonlinear
control systems in finite and infinite dimensions. The emphasis is put on specific phenomena …

Bipedal locomotion is among the most difficult challenges in control engineering. Most
books treat the subject from a quasi-static perspective, overlooking the hybrid nature of …