Interconnection and damping assignment passivity-based control of a class of underactuated mechanical systems with dynamic friction

DOI10.1002/rnc.1622zbMath1222.93198OpenAlexW2050323805MaRDI QIDQ3008839

Jesús Sandoval, Rafael Kelly, Victor Santibáñez

Publication date: 22 June 2011

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.1622

zbMATH Keywords

stabilizationHamiltonian systemsunderactuated mechanical systemsDahl friction model

Mathematics Subject Classification ID

Application models in control theory (93C95) Asymptotic stability in control theory (93D20)

Related Items (8)

Stabilization of a class of nonlinear underactuated mechanical systems with 2-DOF via immersion and invariance ⋮ Robust passivity‐based control design for active nonlinear suspension system ⋮ Energy shaping control of underactuated mechanical systems with fluidic actuation ⋮ Adaptive IDA‐PBC for underactuated mechanical systems with constant disturbances ⋮ Interconnection and damping assignment passivity-based control of an underactuated 2-DOF gyroscope ⋮ Joint position regulation of a class of underactuated mechanical systems affected by LuGre dynamic friction via the IDA-PBC method ⋮ IDA-PBC with adaptive friction compensation for underactuated mechanical systems ⋮ A speed regulator for a force-driven cart-pole system

Cites Work

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• Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
• Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example

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