Nonlinear Incremental Optimal Control for Underactuated Mechanical Systems: Robust Tightly-Coupled NMPC and INDI applied to Underactuated Mechanical Systems

Underactuated mechanical systems (UMS) feature prominently in robotics and aerospace, with aircraft, unmanned air vehicles, and aeroelastic wings as prime examples. These systems present multifaceted control challenges, ranging from inherent underactuation and stability concerns to state and control saturation and an overarching need for...