Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles

@inproceedings{OlfatiSaber2001NonlinearCO,
  title={Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles},
  author={Reza Olfati-Saber},
  year={2001}
}
This thesis is devoted to nonlinear control, reduction, and classification of underactuated mechanical systems. Underactuated systems are mechanical control systems with fewer controls than the number of configuration variables. Control of underactuated systems is currently an active field of research due to their broad applications in Robotics, Aerospace Vehicles, and Marine Vehicles. The examples of underactuated systems include flexible-link robots, mobile robots, walking robots, robots on… CONTINUE READING

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