IDA-PBC with adaptive friction compensation for underactuated mechanical systems (Q5020798): Difference between revisions

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scientific article; zbMATH DE number 7453568

Language	Label	Description	Also known as
English	IDA-PBC with adaptive friction compensation for underactuated mechanical systems	scientific article; zbMATH DE number 7453568

Statements

scholarly article

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IDA-PBC with adaptive friction compensation for underactuated mechanical systems (English)

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International Journal of Control

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publication date

7 January 2022

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zbMATH Keywords

underactuated mechanical systems

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IDA-PBC

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Euler-Lagrange

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adaptive control

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dry friction

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MaRDI profile type

MaRDI publication profile

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full work available at URL

https://doi.org/10.1080/00207179.2019.1622039

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Immersion and invariance: a new tool for stabilization and adaptive control of nonlinear systems

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The matching conditions of controlled Lagrangians and IDA-passivity based control

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Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping

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Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem

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The Method of Controlled Lagrangians: Energy plus Force Shaping

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On the matching equations of energy shaping controllers for mechanical systems

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Shaping the Energy of Mechanical Systems Without Solving Partial Differential Equations

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Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces

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Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances

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Immersion and invariance adaptive control for discrete‐time systems in strict‐feedback form with input delay and disturbances

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Physical damping in IDA-PBC controlled underactuated mechanical systems

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Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments

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Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example

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Constructive Interconnection and Damping Assignment for Port-Controlled Hamiltonian Systems

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Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment

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A simplified IDA-PBC design for underactuated mechanical systems with applications

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Interconnection and damping assignment passivity-based control of a class of underactuated mechanical systems with dynamic friction

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Controlled Lagrangian systems with gyroscopic forcing and dissipation

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Identifiers

zbMATH Open document ID

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10.1080/00207179.2019.1622039

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Mathematics Subject Classification ID

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zbMATH DE Number

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Sitelinks

Mathematics(1 entry)

mardi Publication:5020798

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