Control of Underactuated Mechanical Systems

Ahmed Chemori CNRS, LIRMM received the M.Sc. and Ph.D. degrees both in automatic control from the Grenoble Institute of Technology, Grenoble, France, in 2001 and 2005, respectively. He has been a Postdoctoral Fellow with the Automatic Control Laboratory, Grenoble, France, in 2006. He is currently a tenured Research Scientist in automatic control and robotics with the Montpellier Laboratory of Informatics, Robotics and Microelectronics (LIRMM-CNRS). His research interests include nonlinear, robust , adaptive and predictive control and their real-time applications in complex robotic. Afef Hfaiedh received the master’s degree in Automatic, Robotics and Signal Processing in 2015 from the National Engineering School of Carthage (ENICarthage). She is currently a doctor in Electrical Engineering, working as a part time professor at the University of Carthage, teaching classes in mechatronics engineering. Her research interests include nonlinear, adaptive and sliding-mode control and their applications in robotic and nonlinear underactuated mechanical systems.

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