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underactuated systems; nonlinear control; mechanical systems

References:

[1] N. P. I. Aneke: **Control of Underactuated Mechanical Systems**. Ph.D. Thesis. Technische Universiteit Eindhoven, Eindhoven 2002.

[2] I. Fantoni, R. Lozano: **Non-linear Control for Underactuated Mechanical Systems**. Springer-Verlag, London 2002.

[3] A. D. Mahindrakar, S. Rao, R. N. Banavar: **A Point-to-point control of a 2R planar horizontal underactuated manipulator**. Mechanism and Machine Theory 41 (2006), 838-844. DOI 10.1016/j.mechmachtheory.2005.10.013 | MR 2244109

[4] R. Olfati-Saber: **Nonlinear Control of Underactuated Mechanical Systems with Application to Robotics and Aerospace Vehicles**. Ph.D. Thesis. Massachusetts Institute of Technology, Boston 2001.

[5] J. Rubí, Á. Rubio, A. Avello: **Swing-up control problem for a self-erecting double inverted pendulum**. IEE Proc. - Control Theory App. 149 (2002), 2, 169-175.

[6] P. Steinbauer: **Nonlinear Control of the Nonlinear Mechanical Systems**. Ph.D. Thesis. Czech Technical University in Prague, Prague 2002. (in Czech)

[7] L. Udawatta, K. Watanabe, K. Izumi, K. Kuguchi: **Control of underactuated robot manipulators using switching computed torque method: GA based approach**. Soft Computing 8 (2003), 51-60. DOI 10.1007/s00500-002-0257-8

[8] M. Valášek: **Control of elastic industrial robots by nonlinear dynamic compensation**. Acta Polytechnica 33 (1993), 1, 15-30.

[9] M. Valášek: **Design and control of under-actuated and over-actuated mechanical systems - Challenges of mechanics and mechatronics**. Supplement to Vehicle System Dynamics 40 (2004), 37-50.

[10] M. Valášek: **Exact input-output linearization of general multibody system by dynamic feedback**. In: Multibody Dynamics 2005, Eccomas Conference, Madrid 2005.

[11] M. Valášek, P. Steinbauer: **Nonlinear control of multibody systems**. In: Euromech Colloquium 404, Advances in Computational Multibody Dynamics, Lisboa: Instituto Suparior Technico Av. Rovisco Pais, 1999, 437-444.