In this paper, combined attitude control of an underactuated helicopter experimental system is considered. The controlled helicopter experimental system has two inputs and three outputs, namely, this system is underactuated. The combined attitude controller includes a nonlinear MIMO controller based on adaptive sliding mode control and non-adaptive nonlinear controllers. Control system stabilit...

The research on underwater systems has gained an immense interest during the last decades with applications taken place in many fields such as exploration, investigation, repair, construction, etc. Hereby, control of underwater systems has emerged as a growing field of research. Underwater vehicles, in fact, accounted for 21% of the total number of service robots by the end of 2004, and are the...

For more than a decade underactuated manipulators have been under investigation, cf. [1]. Investigation of underactuated manipulators is of interest because both path planning and control is possible only if the nonlinear dynamic couplings between the links are taken into account. From a practical point of view, major benefits of underactuated manipulation systems are reduction of weight, costs...

In this paper, we introduce cascade normal forms for underactuated mechanical systems that are convenient for control design. These normal forms are partially linear which results from a well-known fact that un-deractuated systems can be partially linearized using a change of control 12]. The diiculty arises when the new control appears both in the linear and nonlin-ear subsystems. We introduce...

In this paper, a complete solution on the suboptimal feedback control law synthesis for underactuated systems, based on the general optimization framework of the Dynamic Programming Theory is introduced. Control method proposed keeps the general structure of a suboptimal control approach, while the functional defining performance index is based on the underactuated system energy. Some numerical...

We introduce the notion of kinematic controllability for second-order underactuated mechanical systems. For systems satisfying this property, the problem of planning fast collision-free trajectories between zero velocity states can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by time-optimal time scaling. While this approach is well kno...

Underactuated manipulators are a class of robotic mechanisms where passive joints are present. By controlling only the motion of the active joints, it is possible to control the entire system. Our goal is to develop control schemes using both classical nonlinear and modern learning techniques for underactuated manipulators. To examine the validity of the approaches, we developed an experimental...

Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control b...

In this paper we develop a robust controller based on variable structure systems (VSS) control theory for the stabilization of a class of Underactuated Mechanical Systems. This controller is based on a noncollocated partial feedback linearization of the underactuated system with a particular choice of the additional control for which the design is made using the sliding mode approach. Simulatio...

In this paper, we present a control algorithm to control underactuated mechanical systems that evolve in the configuration space with the fiber bundle structure. We show that by using the geometric tools such as symmetric product, and small amplitude periodic forcing, we can develop unique techniques to control the underactuated dynamic system, such as an unmanned blimp.