Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes

DOI10.1007/978-3-540-73890-9_11zbMath1136.93020OpenAlexW4238391280MaRDI QIDQ5436768

Giuseppe Viola, Alessandro Astolfi, Jose Ángel Acosta, Romeo S. Ortega, Ravi N. Banavar

Publication date: 17 January 2008

Published in: Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-540-73890-9_11

zbMATH Keywords

controller designasymptotic stabilizationLagrangian or Hamiltonian structure

Mathematics Subject Classification ID

Lyapunov and storage functions (93D30) Design techniques (robust design, computer-aided design, etc.) (93B51) Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05)

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Cites Work

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