New Development and Systematization of Nonlinear Control Theory for Underactuated Systems

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This research aims to challenge the following key problems for control design and analysis for underactuated systems: trajectory control for systems with underactuation degree (the difference between the numbers of its control input and degrees of freedom of the system) one, swing-up and stabilizing control for underactuation degree two, strong stabilizing control for underactuated systems. For seven systems with 2 degrees of freedom and five systems with higher degrees of freedom, by using the fundamental physical properties inhibited in these systems, this research presents refined solutions to the above key control problems. The achieved results have been published in 11 authoritative academic journal papers, 1 monograph of Springer, and 21 refereed internal conference papers. This research made an important contribution to new development to the nonlinear control theory for underactuated robotic systems.