The class of mechanical systems including robotic systems finds itself in a special position in control theory since a mechanical system has a second-order structure that is non-linear but not far from linear. As a result it is possible to develop a rich non-linear control theory for mechanical systems. In this talk, I will discuss the energy shaping method for the stabilization of mechanical systems and the quasi-linearization method for the simplification of the dynamics of mechanical systems.
Control theory and its applications
Awards and Honors
- 2012 : Brain Pool fellowship from the Ministry of Educations, Science and Technology of Korea