Controller design for mechanical systems with underactuation degree one based on controlled Lagrangians method

DOI10.1080/00207170902748724MaRDI QIDQ3566372zbMATH OpenOpenAlexFDO

Authors Maoqing Li, Wei Huo

Publication date 7 June 2010

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

Full work available at URL https://doi.org/10.1080/00207170902748724

zbMATH Keywords

matching conditionstabilisationgyroscopic forcesunderactuated mechanical systemscontrolled Lagrangians methodthe Pendubot

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Design techniques (robust design, computer-aided design, etc.) (93B51) Feedback control (93B52) Stabilization of systems by feedback (93D15)

Recommendations

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Cites work

• A hybrid switching control strategy for nonlinear and underactuated mechanical systems
• Control of nonlinear underactuated systems
• Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
• Energy based control of the Pendubot
• Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
• Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
• On the $\lambda$-Equations for Matching Control Laws
• Periodic motions of the Pendubot via virtual holonomic constraints: theory and experiments
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• The matching conditions of controlled Lagrangians and IDA-passivity based control
• Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes

Cited in

(8)

• On the matching equations of energy shaping controllers for mechanical systems
• Controlled Lagrangian systems with gyroscopic forcing and dissipation
• Stabilization control of quadrotor helicopter through matching solution by controlled Lagrangian method
• Energy shaping control for systems with underactuation degrees two by controlled Lagrangian method
• Angular velocity stabilization of underactuated rigid satellites based on energy shaping
• Control of a class of underactuated mechanical systems obviating matching conditions
• Control of nonlinear underactuated systems
• Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.

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