This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dy...
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Legged robots are a promising locomotion system, capable of performing tasks that conventional vehicles cannot. Even more exciting is the fact that this is a rapidly developing field of study for researchers from a variety of disciplines. However, only a few books have been published on the subjec...
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