In this study, we propose a nonlinear model-following control for underactuated systems. A model-following control design is based on the virtual constrains. The concept of virtual constraints control proposed by Shiriaev et. al. The model-following control is useful to realize the tracking system to a given reference model. In underactuated systems, a modelfollowing control for fullactuated sy...

This paper presents analysis and design results for control systems subject to oscillatory inputs, i.e., inputs of large amplitude and high frequency. The key analysis results are a series expansion characterizing the averaged system and various Lie-algebraic conditions that guarantee the series can be summed. Various example systems provide insight into the results. With regards to design, we ...

The dexterity of a manipulator with passive joints, also known as an underactuated manipulator, differs from the dexterity of a fully actuated one, even if their mechanical structures are identical. Therefore, for fault tolerance and energy saving purposes, it is important to study the dexterity of underactuated manipulators. The purpose of this work is to quantify the dexterity of underactuate...

This paper proposes an adaptive control method for an underactuated overhead crane system. To improve the transferring efficiency and enhance the security of the crane system, the trolley is required to reach the desired position as fast as possible, while the swing of payload needs to be within an acceptable domain. To achieve these objectives, a novel twostep design strategy consisting of a t...

To deal with complex nonlinear systems such as underactuated mechanisms, in this paper a global stable as well as optimal fuzzy controller is presented to achieve output tracking control of nonlinear systems by combining the linear optimal control theory and linear regulator theory with the Takagi-Sugeno fuzzy methodology. The stability of the entire closed-loop fuzzy system is ensured by the L...

In this paper, two nonlinear H∞ control techniques are used to solve the position control problem of underactuated cooperative manipulators. The first technique consists in representing the nonlinear system in a quasi-linear parameter varying form and the solution is given in terms of linear matrix inequalities. The second technique gives an explicit solution to the cooperative manipulators H∞ ...