Nonlinear predictive control of under-actuated mechanical systems, application: the ecp 505 inverted pendulum, MTNS'06 Proc. Mathematical Theory of Networks and Systems, 2004. ,
Control algorithms for stabilizing underactuated robots, Journal of Robotic Systems, vol.15, issue.12, pp.681-697, 1998. ,
Nonlinear Systems, 1996. ,
Control algorithms for stabilizing underactuated robots, Journal of Robotic Systems, vol.15, issue.12, pp.681-697, 1998. ,
DOI : 10.1002/(SICI)1097-4563(199812)15:12<681::AID-ROB2>3.0.CO;2-P
Stabilization of an underactuated planar 2R manipulator, International Journal of Robust and Nonlinear Control, vol.44, issue.4, pp.181-198, 2000. ,
DOI : 10.1002/(SICI)1099-1239(20000415)10:4<181::AID-RNC471>3.0.CO;2-X
Passive Dynamic Walking, The International Journal of Robotics Research, vol.2, issue.4, pp.62-82, 1990. ,
DOI : 10.1177/027836499000900206
The swing up control problem for the Acrobot, IEEE Control Systems Magazine, vol.15, issue.1, pp.49-55, 1995. ,
DOI : 10.1109/37.341864
Energy based control of a class of underactuated mechanical system, Proc. 13th IFAC World Congress, pp.431-436, 1996. ,
Underactuated mechanical systems, Control Problems in Robotics and Automation, vol.230, pp.135-150, 1998. ,
DOI : 10.1007/BFb0015081
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.51.3969
Robot Dynamics and Control, 1989. ,
Using saturation to stabilize a class of single-input partially linear composite systems, Proc. NOLCOS, pp.24-28, 1992. ,