Constructive immersion and invariance stabilization for a class of underactuated mechanical systems
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Publication:490622
DOI10.1016/J.AUTOMATICA.2013.01.059zbMATH Open1319.93066OpenAlexW1963644541MaRDI QIDQ490622FDOQ490622
Authors: Ioannis Sarras, Jose Ángel Acosta, Arun D. Mahindrakar, Romeo Ortega 
Publication date: 27 August 2015
Published in: Automatica (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/j.automatica.2013.01.059
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Cites Work
- L\(_2\) gain and passivity techniques in nonlinear control.
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- Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
- The matching conditions of controlled Lagrangians and IDA-passivity based control
- Constructive immersion and invariance stabilization for a class of underactuated mechanical systems
- Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
- Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
- Speed Observation and Position Feedback Stabilization of Partially Linearizable Mechanical Systems
- Immersion and invariance: a new tool for stabilization and adaptive control of nonlinear systems
- A constructive solution for stabilization via immersion and invariance: the cart and pendulum system
- Furuta's pendulum: a conservative nonlinear model for theory and practise
Cited In (21)
- Stabilisation of a class of 2-DOF underactuated mechanical systems via direct Lyapunov approach
- On the equivalence of two nonlinear control approaches: immersion and invariance and IDA-PBC
- Towards structure-independent stabilization for uncertain underactuated Euler-Lagrange systems
- Global stabilization of underactuated spring-coupled three-link horizontal manipulator using position measurements only
- Immersion and invariance control for Euler angles of a fixed-wing unmanned aerial vehicle
- Enhanced-coupling adaptive control for double-pendulum overhead cranes with payload hoisting and lowering
- Immersion and invariance orbital stabilization of underactuated mechanical systems with collocated pre-feedback
- Quasi-finite-time control for high-order nonlinear systems with mismatched disturbances via mapping filtered forwarding technique
- A simplified IDA-PBC design for underactuated mechanical systems with applications
- Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces
- Constructive immersion and invariance stabilization for a class of underactuated mechanical systems
- Mapping filtered forwarding-based trajectory tracking control
- Gain-adapting coupling control for a class of underactuated mechanical systems
- Forwarding-based immersion and invariance control for \(n\)-dimensional strict-feedback nonlinear systems
- A linear active disturbance rejection control for a ball and rigid triangle system
- Path following of a class of underactuated mechanical systems via immersion and invariance‐based orbital stabilization
- Nonlinear tracking control of underactuated cranes with load transferring and lowering: theory and experimentation
- Stabilization of a class of nonlinear underactuated mechanical systems with 2-DOF via immersion and invariance
- Control of a class of underactuated mechanical systems obviating matching conditions
- Output feedback stabilization of inverted pendulum on a cart in the presence of uncertainties
- Modeling and nonlinear coordination control for an underactuated dual overhead crane system
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