In this work, we propose a controller based on the well-known Immersion and Invariance technique to solve the stabilization problem of a class of underactuated mechanical systems with 2-Degree of Freedom (DOF). We define simple conditions such that the ordinary partial equations arising in Immersion and Invariance are solved. The class of systems addressed in this work includes underactuated mechanical systems with gyroscopic forces. Our approach is validated through simulation and experimental results.

中文翻译：

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通过浸没和不变性稳定一类具有2-DOF的非线性欠驱动机械系统

在这项工作中，我们提出了一种基于众所周知的浸没和不变技术的控制器来解决一类具有 2 自由度 (DOF) 的欠驱动机械系统的稳定问题。我们定义了简单的条件，使得在沉浸和不变性中出现的普通偏方程得到解决。这项工作中涉及的系统类别包括具有陀螺力的欠驱动机械系统。我们的方法通过模拟和实验结果得到验证。