Control of Underactuated Mechanical Systems

Control of Underactuated Mechanical Systems: Stabilisation and Limit Cycle Generation explains the concepts of stabilization and stable limit cycle generation for the class of underactuated mechanical systems. The book demonstrates the proposed concepts through real-time experiments on a real UMS subject and explores the challenges and constraints related to real-time control design. These concepts are illustrated in terms of the modeling and control of systems, such as the inertia wheel inverted pendulum (IWIP). This book serves as a valuable resource for PhD and Master students, engineers, researchers, and teachers. This book is organized into three parts: Part I: General context and case study; Part II: Control solutions for the stabilization problem; Part III: Control solutions for stable limit cycle generation. The final part addresses the problem of stable limit cycle generation, where the proposed control solution is detailed, as well as its related issues of implementation and validation through different case studies. Its content guides them in the field of robotics and automatic control, with a simplified methodology to control dynamical underactuated mechanical systems.

• Solves both problems of stabilization and stable limit cycle generation, for underactuated mechanical systems in the presence of perturbations.
• Delves into the design, development, and validation of robust control solutions.
• Illustrates concepts through case studies.
• Validates control solutions through numerical simulations and/or real-time experiments.