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 …

This paper studies neural network-based tracking control of underactuated systems with
unknown parameters and with matched and mismatched disturbances. Novel adaptive …

Underactuated robotic systems have become an important research topic aiming at
significant improvement of the behavioural performance and energy efficiency. Adopting …

The growth in automated manufacturing since the '60s has motivated the study of the control
and motion planning of many types of mechanical systems, such as industrial manipulators …

This investigation is aimed to propose a vibration-driven friction-induced robot structure with
time-varying stiffness. Different from the common vibration-driven robots with force …

This paper studies the issue of adaptive trajectory tracking control for an underactuated vibro-
driven capsule system and presents a novel motion generation framework. In this …

This paper presents the formulation of a novel block-backstep** based control algorithm
to address the stabilization problem for a generalized nonlinear underactuated mechanical …

This paper presents the design, mathematical development and experimental validation of a
new vibration-driven locomotion module for capsule robots. The proposed system consists …

The purpose of this paper is to introduce a new trajectory tracking controller applied to the
Furuta pendulum; where the arm tracks a desired time-varying trajectory, while the …

In this article, we are dedicated to co** with the control design for underactuated
mechanical system (UMS) with system uncertainties, which is also subject to a set of servo …