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

Energy exchange is a major foundation of the dynamics of physical systems, and, hence, in
the study of complex multi-domain systems, methodologies that explicitly describe the …

Nonlinear and Adaptive Control with Applications provides a detailed treatment of the
design of robust adaptive controllers for nonlinear systems with uncertainties. The authors …

We consider the application of a formulation of passivity-based control (PBC), known as
interconnection and dam** assignment (IDA) to the problem of stabilization of …

Interconnection and dam** assignment passivitybased control is a technique that
regulates the behavior of nonlinear systems assigning a desired (portcontrolled …

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 …

This paper presents a balance control technique for a novel wheel-legged robot. We first
derive a dynamic model of the robot and then apply a linear feedback controller based on …

We propose in the present paper an energy coupling-based output feedback (OFB) control
scheme for 4 degrees-of-freedom (4-DOF) overhead cranes under control input constraints …

Accurately learning the temporal behavior of dynamical systems requires models with well-
chosen learning biases. Recent innovations embed the Hamiltonian and Lagrangian …

In this paper we present a definition of" configuration controllability" for mechanical systems
whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential …