Adaptive interconnection and damping assignment passivity-based control for an underactuated cable-driven robot

DOI10.1002/ACS.3332MaRDI QIDQ6495314zbMATH OpenFDO

Authors Hamid D. Taghirad

Publication date 30 April 2024

Published in International Journal of Adaptive Control and Signal Processing (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/ACS.3332

zbMATH Keywords

adaptive controlbounded inputIDA-PBCunderactuated cable-driven robot

Mathematics Subject Classification ID

Systems theory; control (93-XX)

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Cites work

• Adaptive IDA-PBC for underactuated mechanical systems with constant disturbances
• Adaptive Regulation of Amplitude Limited Robot Manipulators With Uncertain Kinematics and Dynamics
• Constructive Interconnection and Damping Assignment for Port-Controlled Hamiltonian Systems
• Energy‐based output regulation for stochastic port‐Hamiltonian systems
• scientific article; zbMATH DE number 6159604 (Why is no real title available?)
• Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
• Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
• Interconnection and damping assignment passivity-based control: a survey
• Matched Disturbance Rejection for a Class of Nonlinear Systems
• Physical damping in IDA-PBC controlled underactuated mechanical systems
• Robust dynamic state feedback for underactuated systems with linearly parameterized disturbances
• Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances
• Speed Observation and Position Feedback Stabilization of Partially Linearizable Mechanical Systems
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment

Cited in

(2)

• Nonlinear optimal control for two cable-driven 3-DOF robotic cranes
• Adaptive total energy shaping of a class of manipulators

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