Modern autonomous systems, such as flying, legged, and wheeled robots, are generally
characterized by high-dimensional nonlinear dynamics, which presents challenges for …

This paper considers the problem of real‐time trajectory generation and tracking for
nonlinear control systems. We employ a two‐degree‐of‐freedom approach that separates …

Numerous robotic tasks associated with underactuation have been studied in the literature.
For a large number of these in the plane, the mechanical models have a cyclic variable, the …

Discrete-Time Inverse Optimal Control for Nonlinear Systems proposes a novel inverse
optimal control scheme for stabilization and trajectory tracking of discrete-time nonlinear …

A new class of nonlinear PID controllers are derived for nonlinear systems using a nonlinear
generalised predictive control (NGPC) approach. First, the disturbance decoupling ability of …

This dissertation introduces the notion of a dynamic inverse of a nonlinear map. The
dynamic inverse is used in the construction of nonlinear dynamical system, called a dynamic …

Since 1990 a substantial amount of research has been reported in the literature concerning
the identification and control of nonlinear dynamical systems using artificial neural networks …

This article presents a learning-based control framework for a class of underactuated bicycle
robots with an active pendulum attached to the rear body as a balancer. In contrast with the …

A method of asymptotic output tracking in a class of causal nonminimum-phase uncertain
nonlinear systems is considered. Local asymptotic stability of output tracking-error dynamics …

The control of underactuated balance robots is aimed at performing both the external
(actuated) subsystem trajectory tracking and internal (unactuated) subsystem balancing …