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Underactuated

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Preview of Interconnection and damping assignment passivity-based control for gait generation in underactuated compass-like robots
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Interconnection and damping assignment passivity-based control for gait generation in underactuated compass-like robots (Interconnection-and-damping-assignment-passivity-based-control-for-gait-generation-in-underactuated-compass-like-robots.pdf)

762 KBEN 7 pages
The IDA-PBC methodology is applied to a planar and underactuated mechanical system, and its performance is validated through numerical simulations and
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Download (353kB) (AyseNeseTufekciler_362187.pdf)

345 KBEN 76 pages
Ayşe Neşe Tüfekçiler submitted her Master of Science thesis, "Dynamic Balancing of Underactuated Robots", to Sabancı University in Fall 2009, supervised by
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Preview of Online least-squares policy iteration for reinforcement learning control
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Online least-squares policy iteration for reinforcement learning control (10_009.pdf)

453 KBEN 7 pages
This technical report from Delft University of Technology's Center for Systems and Control presents an online least-squares policy iteration method for reinforcement learning control, published in the 2010 American Control Conference.
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