Control of Underactuated Mechanical Systems

Ahmed Chemori received M.Sc. and Ph.D. degrees both in automatic control from the Grenoble Institute of Technology, Grenoble, France, in 2001 and 2005, respectively. During the year 2004/2005 he has been a Research and Teaching assistant at Laboratoire de Signaux et Systèmes (LSS - Centrale Supelec) and the University Paris 11. Then he joined in 2006 Gipsa-Lab (Former LAG) as a CNRS postdoctoral fellow. He is currently a senior Research Scientist in automatic control and robotics with LIRMM, University of Montpellier, CNRS. His research interests include nonlinear (robust, adaptive and predictive) control and their real-time applications in complex robotic systems. Afef Hfaiedh received her Master’s degree in Automatic, Robotics, and Signal Processing in 2015 and her Ph.D. degree in Automatic Control in 2021, both from the National Engineering School of Carthage. In 2023, she joined the Laboratory of Robotics, Informatics, and Complex Systems (RISC-LAB) as a postdoctoral researcher. She is currently working as a part-time professor at the University of Tunis El Manar, National Engineering School of Tunis, teaching engineering courses in electrical engineering. Her research interests include nonlinear, adaptive, and sliding-mode control and their applications in robotics 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