Control of Underactuated Mechanical Systems: Stabilisation and Limit Cycle Generation
Author:   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.)
Publisher:   Elsevier Science Publishing Co Inc
ISBN:  

9780443240201


Pages:   238
Publication Date:   02 June 2025
Format:   Paperback
Availability:   Manufactured on demand   Availability explained
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Control of Underactuated Mechanical Systems: Stabilisation and Limit Cycle Generation


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Control of Underactuated Mechanical Systems: Stabilisation and Limit Cycle Generation

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Author:   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.)
Publisher:   Elsevier Science Publishing Co Inc
Imprint:   Academic Press Inc
Weight:   0.400kg
ISBN:  

9780443240201


ISBN 10:   0443240205
Pages:   238
Publication Date:   02 June 2025
Audience:   Professional and scholarly ,  College/higher education ,  Professional & Vocational ,  Postgraduate, Research & Scholarly
Format:   Paperback
Publisher's Status:   Active
Availability:   Manufactured on demand   Availability explained
We will order this item for you from a manufactured on demand supplier.

Table of Contents

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

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Author Information

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.

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