A simplified IDA-PBC design for underactuated mechanical systems with applications
From MaRDI portal
Publication:1662978
Recommendations
- On the matching equations of kinetic energy shaping in IDA-PBC
- Physical damping in IDA-PBC controlled underactuated mechanical systems
- On the method of interconnection and damping assignment passivity-based control for the stabilization of mechanical systems
- Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances
- The matching conditions of controlled Lagrangians and IDA-passivity based control
Cites work
- A family of smooth controllers for swinging up a pendulum
- Almost global stabilization of the inverted pendulum via continuous state feedback
- Constructive immersion and invariance stabilization for a class of underactuated mechanical systems
- Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
- Friction models and friction compensation
- Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example
- Furuta's pendulum: a conservative nonlinear model for theory and practise
- Geometric Criteria for the Quasi-Linearization of the Equations of Motion of Mechanical Systems
- 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
- Nonlinear control of the reaction wheel pendulum
- Nonlinear systems.
- On the $\lambda$-Equations for Matching Control Laws
- On the equivalence of two nonlinear control approaches: immersion and invariance and IDA-PBC
- Speed Observation and Position Feedback Stabilization of Partially Linearizable Mechanical Systems
- Stabilization of Hamiltonian systems
- Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
- Stabilization of the Furuta pendulum around its homoclinic orbit
- Swinging up a pendulum by energy control
- The matching conditions of controlled Lagrangians and IDA-passivity based control
- Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
Cited in
(16)- Robust feedback control of the underactuated inertia wheel inverted pendulum under parametric uncertainties and subject to external disturbances: LMI formulation
- Stabilization of a class of nonlinear underactuated mechanical systems with 2-DOF via immersion and invariance
- On the matching equations of kinetic energy shaping in IDA-PBC
- Holonomic rolling nonprehensile manipulation primitive
- Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics
- 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
- On the equivalence of two nonlinear control approaches: immersion and invariance and IDA-PBC
- Physical damping in IDA-PBC controlled underactuated mechanical systems
- Solution of matching equations of IDA-PBC by Pfaffian differential equations
- Energy shaping control of underactuated mechanical systems with fluidic actuation
- Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances
- Interconnection and damping assignment passivity-based control of an underactuated 2-DOF gyroscope
- Stabilization of a class of underactuated parallel robots via energy shaping: application to cable driven manipulators
- IDA-PBC with adaptive friction compensation for underactuated mechanical systems
- LMI-based synthesis of a robust saturated controller for an underactuated mechanical system subject to motion constraints
This page was built for publication: A simplified IDA-PBC design for underactuated mechanical systems with applications
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1662978)
