Passivity-based control of implicit port-Hamiltonian systems with holonomic constraints

DOI10.1016/J.SYSCONLE.2016.04.004zbMATH Open1344.93077OpenAlexW2417378546MaRDI QIDQ313267FDOQ313267

Fernando Castaños, Dmitry Gromov

Publication date: 9 September 2016

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2016.04.004

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zbMATH Keywords

implicit modelspassivityHamiltonian dynamicsholonomic constraintspendulumswing-up

Mathematics Subject Classification ID

Quadratic programming (90C20) Homoclinic and heteroclinic solutions to ordinary differential equations (34C37) Control of mechanical systems (70Q05) Application models in control theory (93C95)

Cites Work

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• Geometric Numerical Integration
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• Passivity-Based Control of Implicit Port-Hamiltonian Systems
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• On global properties of passivity-based control of an inverted pendulum
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
• On Lossless Approximations, the Fluctuation- Dissipation Theorem, and Limitations of Measurements
• Proportional plus integral control for set-point regulation of a class of nonlinear RLC circuits
• Interconnection of port-Hamiltonian systems and composition of Dirac structures

Cited In (3)

• Neural network quaternion-based controller for port-Hamiltonian system
• Passivity-Based Control of Implicit Port-Hamiltonian Systems
• Integral Control of Port-Hamiltonian Systems: Nonpassive Outputs Without Coordinate Transformation

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