Constructive immersion and invariance stabilization for a class of underactuated mechanical systems

DOI10.1016/J.AUTOMATICA.2013.01.059zbMath1319.93066OpenAlexW1963644541MaRDI QIDQ490622

Arun D. Mahindrakar, Ioannis Sarras, Jose Ángel Acosta, Romeo S. Ortega

Publication date: 27 August 2015

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2013.01.059

zbMATH Keywords

stabilizationmechanical systemsinvariant manifoldsnonlinear control systemssystem immersion

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Kinematics of mechanisms and robots (70B15)

Related Items (18)

Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces ⋮ Modeling and nonlinear coordination control for an underactuated dual overhead crane system ⋮ Forwarding-based immersion and invariance control for \(n\)-dimensional strict-feedback nonlinear systems ⋮ Mapping filtered forwarding-based trajectory tracking control ⋮ A simplified IDA-PBC design for underactuated mechanical systems with applications ⋮ Towards structure-independent stabilization for uncertain underactuated Euler-Lagrange systems ⋮ Gain-adapting coupling control for a class of underactuated mechanical systems ⋮ Stabilization of a class of nonlinear underactuated mechanical systems with 2-DOF via immersion and invariance ⋮ Control of a class of underactuated mechanical systems obviating matching conditions ⋮ On the equivalence of two nonlinear control approaches: immersion and invariance and IDA-PBC ⋮ Quasi-finite-time control for high-order nonlinear systems with mismatched disturbances via mapping filtered forwarding technique ⋮ Nonlinear tracking control of underactuated cranes with load transferring and lowering: theory and experimentation ⋮ Constructive immersion and invariance stabilization for a class of underactuated mechanical systems ⋮ Output feedback stabilization of inverted pendulum on a cart in the presence of uncertainties ⋮ Enhanced-coupling adaptive control for double-pendulum overhead cranes with payload hoisting and lowering ⋮ A linear active disturbance rejection control for a ball and rigid triangle system ⋮ Immersion and invariance control for Euler angles of a fixed-wing unmanned aerial vehicle ⋮ Global stabilization of underactuated spring-coupled three-link horizontal manipulator using position measurements only

Cites Work

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• The matching conditions of controlled Lagrangians and IDA-passivity based control
• Speed Observation and Position Feedback Stabilization of Partially Linearizable Mechanical Systems
• Immersion and invariance: a new tool for stabilization and adaptive control of nonlinear systems
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one

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