Control of Underactuated Mechanical Systems

Control of Underactuated Mechanical Systems: Stabilization and Limit Cycle Generation clearly explains stabilization and limit cycle generation in underactuated mechanical systems (UMS), addressing control design challenges and demonstrating concepts through real-time experiments. The book begins with advancements in UMS, introducing key concepts such as stabilization and limit cycle generation, supported by literature examples. It then focuses on the inertia wheel inverted pendulum, presenting a detailed discussion. The second part tackles stabilization, offering various control solutions validated through numerical simulations and real-time experiments. The final part addresses stable limit cycle generation, detailing three proposed control solutions and their validation through different case studies. This book is a valuable resource for PhD and Master students, engineers, researchers, and educators. It provides guidance in robotics and automatic control, utilizing a simplified methodology for controlling underactuated mechanical systems.

• Addresses stabilization and stable limit cycle generation in underactuated mechanical systems amid perturbations
• Explores the design, development, and validation of robust control solutions
• Illustrates concepts through case studies
• Validates control solutions with numerical simulations and real-time experiments