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 article investigates the problem of enforcing a virtual holonomic constraint (VHC) on a
mechanical system with degree of underactuation one while simultaneously stabilizing a …

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 …

This paper deals with a new method allowing recent model-free control technique to deal
with underactuated mechanical systems for stable limit cycles generation. A model-free …

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 single, double, and triple pendulum has served as an illustrative experimental
benchmark system for scientists to study dynamical behavior for more than four centuries …

The problem of generating oscillations of the inertia wheel pendulum is considered. We
combine exact feedback linearization with two‐relay controller, tuned using frequency …

We consider the problem of periodic motion planning and of designing stabilising feedback
control laws for such motions in underactuated mechanical systems. A novel periodic motion …

This paper presents a position/speed regulator for a torque–driven inertia wheel pendulum
where only position measurements are available for feedback. Our contribution is to …

In this article, an Active Disturbance Rejection Control (ADRC) scheme, using a Generalized
PI disturbance observer based control is applied to the stabilization problem of the Inertia …