In this paper a novel controller for a flexible link manipulator based on fractional calculus is
proposed. A hybrid system that combines the advantages in terms of robustness of the …

This paper deals with the tracking approach of a self-generated stable limit cycle for an
underactuated mechanical system: The inertia wheel inverted pendulum (IWIP). Such …

The fourth‐order model of the reaction wheel pendulum is considered and a fourth‐order
discontinuous integral algorithm is used for stabilization and tracking of the system, using a …

In this paper, the control problem of a class I of underactuated mechanical systems (UMSs)
is addressed. The considered class includes nonlinear UMSs with two degrees of freedom …

The inverted pendulum is a classical problem in dynamics and control theory widely used as
a fundamental system for testing emerging control algorithms. In spite of its very simple …

Inertia wheel pendulums are known as benchmark underactuated systems, which have
attracted a lot of attention in recent years. However, the convergence time of existing control …

Robust generation of self‐oscillation for mechanical systems in the presence of matched
uncertainties/perturbations based on a two‐relay controller, which naturally has a switched …

A continuous robustification methodology for the generation of self-oscillations using
continuous switched integral sliding modes is presented. The robustification is achieved in …

This paper presents a novel continuous fixed-time convergent control algorithm applied to
the cart inverted pendulum stabilization problem in the presence of unbounded …

A two relay controller is robustified by a switched integral sliding mode controller in order to
generate robust self-oscillations for pendulum systems. The proposed strategy assures …