Control of Underactuated Mechanical Systems: Stabilisation and Limit Cycle Generation

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Afef Hfaiedh (University of Tunis El Manar, National Engineering School of Tunis, LR16ES07, RISC Lab, Tunis, Tunisia.) Ahmed Chemori (LIRMM, University of Montpellier, CNRS, Montpellier, France.)

Control of Underactuated Mechanical Systems

Stabilisation and Limit Cycle Generation

Afef Hfaiedh (University of Tunis El Manar, National Engineering School of Tunis, LR16ES07, RISC Lab, Tunis, Tunisia.), Ahmed Chemori (LIRMM, University of Montpellier, CNRS, Montpellier, France.)

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English

Academic Press Inc
16 June 2025

Industrial chemistry & manufacturing technologies; Mechanical engineering; Materials science; Automatic control engineering

Series: Emerging Methodologies and Applications in Modelling, Identification and Control

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.

By: Afef Hfaiedh (University of Tunis El Manar National Engineering School of Tunis LR16ES07 RISC Lab Tunis Tunisia.), Ahmed Chemori (LIRMM, University of Montpellier, CNRS, Montpellier, France.)
Imprint: Academic Press Inc
Country of Publication: United States
Dimensions: Height: 229mm, Width: 152mm,
Weight: 450g
ISBN: 9780443240201
ISBN 10: 0443240205
Series: Emerging Methodologies and Applications in Modelling, Identification and Control
Pages: 238
Publication Date: 16 June 2025
Audience: Professional and scholarly , College/higher education , Undergraduate , Further / Higher Education
Format: Paperback
Publisher's Status: Active

Part I: General context and case study 1. Introduction 2. The inertia wheel inverted pendulum case study Part II: Control solutions for the stabilisation problem 3. A revisited adaptive sliding mode control scheme 4. Nonlinear RISE feedback control scheme 5. Model reference adaptive IDA-PBC approach Part III: Control solutions for stable limit cycle generation problem 6. Partial feedback linearization and optimization 7. Nonlinear Model Predictive control 8. Dual Model Free control

Afef Hfaiedh received her Master’s degree in Automatic Control, Robotics, and Signal Processing in 2015 and her Ph.D. in Automatic Control in 2021. She is a postdoctoral researcher at RISC-LAB and a part-time professor at the University of Tunis El Manar, specializing in nonlinear control applications in robotics and underactuated mechanical systems. Ahmed Chemori earned his M.Sc. and Ph.D. in Automatic Control from the Grenoble Institute of Technology in 2001 and 2005, respectively. He has worked as a research and teaching assistant and is currently a senior research scientist at LIRMM, University of Montpellier, focusing on nonlinear control and its applications in robotics.