This paper deals with a control approach dedicated to stable limit cycle generation for underactuated mechanical systems. The proposed approach is based on partial nonlinear feedback linearization and dynamic control for optimal periodic reference trajectories tracking. The computation of the reference trajectories is performed in order to optimize the behavior of the whole dynamics of the system and especially its zero dynamics at the end of each cycle. Simulation results as well as experiments show the performance and the efficiency of the proposed control scheme.

This paper deals with a new method allowing recent model-free control technique to deal with underactuated mechanical systems for stable limit cycles generation. A model-free controller is designed in order to track some parametrized reference trajectories. A second model-free controller is then designed using trajectories' parameters as control inputs in order to stabilize the internal dynamics. The proposed method is applied to a real underactuated mechanical system: the inertia wheel inverted pendulum. Numerical simulations as well as real-time experiments are presented showing the effectiveness of the proposed control method and its robustness toward external disturbances.

This paper deals with a control approach dedicated to stable limit cycle generation for underactuated mechanical systems. The proposed approach is based on partial nonlinear feedback linearization and dynamic control for optimal periodic reference trajectories tracking. Simulation results and experiments show the efficiency of the proposed approach.