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The main drawbacks of input-output linearizing controllers are the need for precise dynamics models and not being able to account for input constraints.
Adaptive control of mechanical manipulators
J. Craig, Ping Hsu, and S. Sastry · 1986
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Adaptive Control: Stability, Convergence, and Robustness
S. Sastry and M. Bodson · 1989
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Adaptive control of linearizable systems
S. S. Sastry and A. Isidori · 1989
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Nonlinear Systems: Analysis, Stability and Control
S. Sastry · 1999
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Asymptotically stable walking for biped robots: analysis via systems with impulse effects
J. W. Grizzle, G. Abba, and F. Plestan · 2001
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Zero dynamics of underactuated planar biped walkers
E. R. Westervelt, J.W. Grizzle, and D.E. Koditschek · 2002
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Rabbit: a testbed for advanced control theory
C. Chevallereau, G. Abba, Y. Aoustin, F. Plestan, E. R. Westervelt, C. Canudas-De-Wit, and J. W. Grizzle · 2003
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Toward a Coherent Framework for the Control of Planar Biped Locomotion
E. Westervelt · 2003
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A restricted poincaré map for determining exponentially stable periodic orbits in systems with impulse effects: Application to bipedal robots
B. Morris and J. W. Grizzle · 2005
Cited alongside, same era.
Feedback control of dynamic bipedal robot locomotion
E. R. Westervelt, J. W. Grizzle, C. Chevallereau, J. H. Choi, and B. Morris · 2007
Cited alongside, same era.
A compliant hybrid zero dynamics controller for stable, efficient and fast bipedal walking on mabel
K. Sreenath, H.-W. Park, I. Poulakakis, and J. Grizzle · 2011
Cited alongside, same era.
Rapidly exponentially stabilizing control lyapunov functions and hybrid zero dynamics
A. D. Ames, K. Galloway, K. Sreenath, and J. W. Grizzle · 2014
Cited alongside, same era.
Torque saturation in bipedal robotic walking through control lyapunov function-based quadratic programs
K. Galloway, K. Sreenath, A. D. Ames, and J. W. Grizzle · 2015
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L1 adaptive control for bipedal robots with control lyapunov function based quadratic programs
Q. Nguyen and K. Sreenath · 2015
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Frost: Fast robot optimization and simulation toolkit
A. Hereid and A. D. Ames · 2017
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Reinforcement Learning: An Introduction
R. S. Sutton and A. G. Barto · 2018
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Episodic learning with control lyapunov functions for uncertain robotic systems
A. J. Taylor, V. D. Dorobantu, H. M. Le, Y. Yue, and A. D. Ames · 2019
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Deterministic policy gradient algorithms
D. Silver, G. Lever, N. Heess, T. Degris, D. Wierstra, and M. Riedmiller · 2014
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T. Westenbroek, D. Fridovich-Keil, E. Mazumdar, S. Arora, V. Prabhu, S. S. Sastry, and C. J. Tomlin · 2019
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