Matching in the method of controlled Lagrangians and IDA-passivity based control

MaRDI QIDQ3596150zbMATH OpenFDO

Authors G. Blankenstein, Romeo Ortega, Arjan van der Schaft

Publication date 29 August 2007

zbMATH Keywords

damping assignmentEuler-Lagrange systempassivity based controlstabilization by controlled Lagrangian method

Mathematics Subject Classification ID

Transformations (93B17) Control/observation systems governed by partial differential equations (93C20) Lyapunov and storage functions (93D30)

Recommendations

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

(7)

• On the method of interconnection and damping assignment passivity-based control for the stabilization of mechanical systems
• Controlled Lagrangians
• The matching conditions of controlled Lagrangians and IDA-passivity based control
• Controller design for mechanical systems with underactuation degree one based on controlled Lagrangians method
• On the equivalence of two nonlinear control approaches: immersion and invariance and IDA-PBC
• The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
• Solution of matching equations of IDA-PBC by Pfaffian differential equations

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