Digital passivity-based control of underactuated mechanical systems

DOI10.1016/J.AUTOMATICA.2024.112096MaRDI QIDQ7027330zbMATH OpenFDO

Authors Mattia Mattioni, Pablo Borja

Publication date 14 February 2025

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.AUTOMATICA.2024.112096

zbMATH Keywords

asymptotic stabilizationdigital implementationLagrangian and Hamiltonian systemspassivity-based controlunderactuated mechanical systems

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Sampled-data control/observation systems (93C57) Digital control/observation systems (93C62)

Cites work

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Cited in

(1)

• An example of robust orbital stabilization of a periodic behavior: subspace and sliding-mode-based stabilization of transverse linearization

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