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

DOI10.1016/J.SYSCONLE.2016.04.004MaRDI QIDQ313267zbMATH OpenOpenAlexFDO

Authors 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

zbMATH Keywords

Hamiltonian dynamicsholonomic constraintsimplicit modelspassivitypendulumswing-up

Mathematics Subject Classification ID

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

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Cited in

(5)

• Passivity based control of a class of Hamiltonian systems with nonholonomic constraints
• Implicit and explicit representations of continuous-time port-Hamiltonian systems
• Passivity-Based Control of Implicit Port-Hamiltonian Systems
• Integral Control of Port-Hamiltonian Systems: Nonpassive Outputs Without Coordinate Transformation
• Neural network quaternion-based controller for port-Hamiltonian system

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