most citedData-Driven Predictive Control for Robust Exoskeleton Locomotion

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eess.SY2024

Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies

William Compton, Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin +2

Stabilizing underactuated systems is an inherently challenging control task due to fundamental limitations on how the control input affects the unactuated dynamics. Decomposing the…