A simplified IDA-PBC design for underactuated mechanical systems with applications
DOI10.1016/J.EJCON.2015.12.001zbMATH Open1403.93106OpenAlexW2213884952MaRDI QIDQ1662978FDOQ1662978
Authors: Mutaz Ryalat, Dina Shona Laila 
Publication date: 21 August 2018
Published in: European Journal of Control (Search for Journal in Brave)
Full work available at URL: https://eprints.soton.ac.uk/382357/1/EJCON-D-15-00115-R1.pdf
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Hamiltonian systemsnonlinear controlpassivity-based controlunderactuated systemsinertia wheel pendulumrotary inverted pendulum
Sensitivity (robustness) (93B35) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Control/observation systems governed by partial differential equations (93C20) Stabilization of systems by feedback (93D15)
Cites Work
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Cited In (12)
- Stabilization of a class of underactuated parallel robots via energy shaping: application to cable driven manipulators
- Robust feedback control of the underactuated inertia wheel inverted pendulum under parametric uncertainties and subject to external disturbances: LMI formulation
- Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics
- Energy shaping control of underactuated mechanical systems with fluidic actuation
- IDA-PBC with adaptive friction compensation for underactuated mechanical systems
- Gain-adapting coupling control for a class of underactuated mechanical systems
- Joint swing-up and stabilization of the reaction wheel pendulum using discontinuous integral algorithm
- Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances
- Stabilization of a class of nonlinear underactuated mechanical systems with 2-DOF via immersion and invariance
- Solution of matching equations of IDA-PBC by Pfaffian differential equations
- Holonomic Rolling Nonprehensile Manipulation Primitive
- LMI-based synthesis of a robust saturated controller for an underactuated mechanical system subject to motion constraints
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