Robust energy shaping control of mechanical systems
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Publication:2637595
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Cites work
- L₂-gain and passivity techniques in nonlinear control
- A characterization of integral input-to-state stability
- scientific article; zbMATH DE number 5347321 (Why is no real title available?)
- Inertia characteristics of self-adjoint matrix polynomials
- Nonlinear systems.
- On the addition of integral action to port-controlled Hamiltonian systems
- Passivity of nonlinearity incremental systems: application to PI stabilization of nonlinear RLC circuits
- Robust energy shaping control of mechanical systems
- Robust integral control of port-Hamiltonian systems: the case of non-passive outputs with unmatched disturbances
- Speed Observation and Position Feedback Stabilization of Partially Linearizable Mechanical Systems
Cited in
(32)- On the method of energy shaping via static output feedback for stabilization of mechanical systems
- Trajectory tracking passivity-based control for marine vehicles subject to disturbances
- Explicit solutions of the kinetic and potential matching conditions of the energy shaping method
- Dynamic IDA-PBC control for weakly-coupled electromechanical systems
- Passivity-based control for multi-vehicle systems subject to string constraints
- Exponential stability of port-Hamiltonian systems via energy-shaped method
- On the relationship between the \textit{energy shaping} and the \textit{Lyapunov constraint based} methods
- On the method of interconnection and damping assignment passivity-based control for the stabilization of mechanical systems
- Robust energy shaping control of mechanical systems
- An adaptive speed observer for a class of nonlinear mechanical systems: theory and experiments
- Energy regulation of torque-driven robot manipulators in joint space
- Vibration suppression for mass-spring-damper systems with a tuned mass damper using interconnection and damping assignment passivity-based control
- A robust PI passivity-based control of nonlinear systems and its application to temperature regulation
- Intrinsic dynamics and total energy-shaping control of the ballbot system
- scientific article; zbMATH DE number 1816773 (Why is no real title available?)
- Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments
- Passivity-based control design and experiments for a rolling-balancing system
- A family of hyperbolic-type control schemes for robot manipulators
- Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances
- Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
- Bounded inputs total energy shaping for a class of underactuated mechanical systems
- Robust passivity‐based control design for active nonlinear suspension system
- Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances
- Energy shaping control of underactuated mechanical systems with fluidic actuation
- Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances
- A robust adaptive velocity observer for mechanical systems transformed in cascade form
- Robust state-error port-controlled Hamiltonian trajectory tracking control for unmanned surface vehicle with disturbance uncertainties
- Adaptive NN state error PCH trajectory tracking control for unmanned surface vessel with uncertainties and input saturation
- PI simultaneous stabilization and set-point output regulation of Port-Hamiltonian systems
- Energy-based trajectory tracking for underactuated mechanical systems: velocity-free and disturbance rejection methods
- Interconnection and damping assignment-passivity-based control for boosting robust performance in under-actuated mechanical systems
- Two globally convergent adaptive speed observers for mechanical systems
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