Position Control via Force Feedback in the Port-Hamiltonian Framework
From MaRDI portal
Publication:4610126
DOI10.1007/978-3-319-30357-4_9zbMath1390.93330OpenAlexW2505756442MaRDI QIDQ4610126
Jacquelien M. A. Scherpen, Mauricio Muñoz-Arias, Daniel A. Dirksz
Publication date: 5 April 2018
Published in: Nonlinear Systems (Search for Journal in Brave)
Full work available at URL: https://www.springer.com/gp/book/9783319303567
Feedback control (93B52) Nonlinear systems in control theory (93C10) Control of mechanical systems (70Q05) Dynamical aspects of finite-dimensional Hamiltonian and Lagrangian systems (37J99) Control/observation systems governed by ordinary differential equations (93C15)
Related Items (1)
Cites Work
- Unnamed Item
- Unnamed Item
- Unnamed Item
- Power-based control: Canonical coordinate transformations, integral and adaptive control
- Robust integral control of port-Hamiltonian systems: the case of non-passive outputs with unmatched disturbances
- On the addition of integral action to port-controlled Hamiltonian systems
- Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations.
- Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
- Theory of robot control
- Physical damping in IDA-PBC controlled underactuated mechanical systems
- Energy-based Lyapunov functions for forced Hamiltonian systems with dissipation
- Modeling and Control of Complex Physical Systems
- Position Control via Force Feedback in the Port-Hamiltonian Framework
- Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
- Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
- Canonical transformation and stabilization of generalized Hamiltonian systems
This page was built for publication: Position Control via Force Feedback in the Port-Hamiltonian Framework
