Energy based control of a class of underactuated mechanical systems

Abstract. In this paper we discuss some design methods for the control of a class of underactuated mechanical systems. This class of systems includes gymnastic robots, such as the Acrobot, as well the classical cart{pole system. The systems considered here are nonminimum phase which greatly complicates the control design issues. Our design techniques combine nonlinear partial feedback linearization with Lyapunov methods based on saturation functions, switching and energy shaping