Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
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Publication:5267101
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- Energy-based feedback control for stochastic port-controlled Hamiltonian systems
- Passivity based control of a class of Hamiltonian systems with nonholonomic constraints
- Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
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- Asymptotic stabilizability of underactuated Hamiltonian systems with two degrees of freedom
- Stabilisation of a class of 2-DOF underactuated mechanical systems via direct Lyapunov approach
- Memristive port-Hamiltonian control: path-dependent damping injection in control of mechanical systems
- Partially saturated nonlinear control for gantry cranes with hardware experiments
- A review on the control of second order underactuated mechanical systems
- From Hopf bifurcation to limit cycles control in underactuated mechanical systems
- Proportional retarded controller to stabilize underactuated systems with measurement delays: Furuta pendulum case study
- Stabilizing underwater vehicle motion using internal rotors
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- Direct Discrete-Time Design for Sampled-Data Hamiltonian Control Systems
- The Helmholtz conditions and the method of controlled Lagrangians
- A control energy approach for the stabilization of the rigid beam balanced by the cart
- Controlled Lagrangian systems with gyroscopic forcing and dissipation
- Partial stabilization of underactuated Euler-Lagrange systems via a class of feedback transformations
- The Lyapunov direct method for the stabilisation of the ball on the actuated beam
- Passivity-based control laws for an unmanned powered parachute aircraft
- Immersion and invariance control for Euler angles of a fixed-wing unmanned aerial vehicle
- Stabilization control of quadrotor helicopter through matching solution by controlled Lagrangian method
- Reaction wheel pendulum control using fourth‐order discontinuous integral algorithm
- Holonomic rolling nonprehensile manipulation primitive
- Control of a class of underactuated mechanical systems
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- A switched controller for an underactuated underwater vehicle
- The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
- Global output regulation for a class of single input port-controlled Hamiltonian disturbed systems
- Robust feedback control of the underactuated inertia wheel inverted pendulum under parametric uncertainties and subject to external disturbances: LMI formulation
- Stabilizing a rotary inverted pendulum based on logarithmic Lyapunov function
- A simplified IDA-PBC design for underactuated mechanical systems with applications
- Robust passivity‐based control design for active nonlinear suspension system
- Global bifurcation analysis of a controlled underactuated mechanical system
- Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example
- Power-based control: Canonical coordinate transformations, integral and adaptive control
- Analysis of the energy-based swing-up control for the double pendulum on a cart
- Control via interconnection and damping assignment of linear time-invariant systems: a tutorial
- Output feedback control of a class of under-actuated nonlinear systems using extended high gain observer
- Smooth higher-order sliding mode control of a class of underactuated mechanical systems
- Dynamic extension is unnecessary for stabilization via interconnection and damping assignment passivity-based control
- Bounded inputs total energy shaping for a class of underactuated mechanical systems
- Global stabilization for ball-and-beam systems via state and partial state feedback
- A segmented model based fuel delivery control of PEM fuel cells: a port-Hamiltonian approach
- Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics
- Bipartite Byzantine‐resilient event‐triggered consensus control of heterogeneous multi‐agent systems
- Passivity-based control of implicit port-Hamiltonian systems with holonomic constraints
- Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces
- Vibration suppression for mass-spring-damper systems with a tuned mass damper using interconnection and damping assignment passivity-based control
- Swing-up control strategies for a reaction wheel pendulum
- Energy shaping control of underactuated mechanical systems with fluidic actuation
- Bounded stabilisation of stochastic port-Hamiltonian systems
- Simultaneous interconnection and damping assignment passivity-based control: the induction machine case study
- Constructive immersion and invariance stabilization for a class of underactuated mechanical systems
- A swing-up of the acrobot based on a simple pendulum strategy
- Stabilization, Lyapunov functions, and dissipation
- IDA-PBC with adaptive friction compensation for underactuated mechanical systems
- Pseudo-energy shaping for the stabilization of a class of second-order systems
- From underactuation to quasi‐full actuation: Aiming at a unifying control framework for articulated soft robots
- Energy shaping control for systems with underactuation degrees two by controlled Lagrangian method
- A Hamiltonian viewpoint in the modeling of switching power converters
- Position control via force feedback in the port-Hamiltonian framework
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