Adaptive IDA‐PBC for underactuated mechanical systems with constant disturbances

DOI10.1002/ACS.2947zbMath1407.93167OpenAlexW2898408584WikidataQ129032143 ScholiaQ129032143MaRDI QIDQ4625242

Enrico Franco

Publication date: 22 February 2019

Published in: International Journal of Adaptive Control and Signal Processing (Search for Journal in Brave)

Full work available at URL: http://hdl.handle.net/10044/1/65077

zbMATH Keywords

nonlinear controladaptive controlunderactuated mechanical systemsmatched and unmatched disturbances

Mathematics Subject Classification ID

Feedback control (93B52) Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40) Perturbations in control/observation systems (93C73) Linearizations (93B18) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (4)

Robust passivity‐based control design for active nonlinear suspension system ⋮ Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances ⋮ Adaptive interconnection and damping assignment passivity-based control for an underactuated cable-driven robot ⋮ Joint position regulation of a class of underactuated mechanical systems affected by LuGre dynamic friction via the IDA-PBC method

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