Control of complex robotic systems: Challenges, design and experiments

Control of robotic systems is a thoroughly investigated subject in the literature, but still an open problem because of the highly nonlinear behaviour of robots, the complexity of their dynamics, the under-actuation, the actuation redundancy, the singularities, kinematic constraints, real-time constraints and more challenges issues. This paper is dedicated to control of robotic systems. They are more and more complex, motivating the development of new sophisticated control schemes. The proposed control schemes are illustrated through different real experimental platforms in four chosen research fields in robotics: underactuated robotics, parallel robotics, humanoid robotics and underwater robotics.