The matching conditions of controlled Lagrangians and IDA-passivity based control

DOI10.1080/00207170210135939zbMath1018.93006OpenAlexW2072770984MaRDI QIDQ3151662

Guido Blankenstein, Arjan J. Van der Schaft, Romeo S. Ortega

Publication date: 16 October 2002

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

Full work available at URL: https://pure.rug.nl/ws/files/14403914/2002IntJContBlankenstein.pdf

zbMATH Keywords

symmetryclosed-loop systemmechanical systemsintegrabilitymatching conditionsHamiltonian systeminterconnectiondamping assignmentcontrolled Lagrangianspassivity based controlIDA-PBCpost-controlled Hamiltonian systems

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Hamilton's equations (70H05) System structure simplification (93B11) Control of mechanical systems (70Q05) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33) Lagrange's equations (70H03)

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Cites Work

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• An LMI approach to stabilization of linear port-controlled Hamiltonian systems
• Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
• Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem
• Control of nonlinear underactuated systems
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping

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