Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
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Publication:5267101
DOI10.1109/TAC.2002.800770zbMATH Open1364.93662MaRDI QIDQ5267101FDOQ5267101
Authors: Fabio Gómez-Estern, Romeo Ortega, Mark W. Spong, G. Blankenstein 
Publication date: 20 June 2017
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
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Cited In (only showing first 100 items - show all)
- On the matching equations of energy shaping controllers for mechanical systems
- Stabilisation of a class of 2-DOF underactuated mechanical systems via direct Lyapunov approach
- Partially saturated nonlinear control for gantry cranes with hardware experiments
- Memristive port-Hamiltonian control: path-dependent damping injection in control of mechanical systems
- Stabilizing underwater vehicle motion using internal rotors
- Adaptive Finite‐Time Robust Control of Nonlinear Delay Hamiltonian Systems Via Lyapunov‐Krasovskii Method
- Trajectory tracking control of variable length pendulum by partial energy shaping
- Direct Discrete-Time Design for Sampled-Data Hamiltonian Control Systems
- Partial stabilization of underactuated Euler-Lagrange systems via a class of feedback transformations
- A control energy approach for the stabilization of the rigid beam balanced by the cart
- Controlled Lagrangian systems with gyroscopic forcing and dissipation
- The Lyapunov direct method for the stabilisation of the ball on the actuated beam
- Control of a class of underactuated mechanical systems
- A switched controller for an underactuated underwater vehicle
- The Equivalence of Controlled Lagrangian and Controlled Hamiltonian 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
- Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example
- Control via interconnection and damping assignment of linear time-invariant systems: a tutorial
- Bounded inputs total energy shaping for a class of underactuated mechanical systems
- Analysis of the energy-based swing-up control for the double pendulum on a cart
- Power-based control: Canonical coordinate transformations, integral and adaptive control
- 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
- Global stabilization for ball-and-beam systems via state and partial state feedback
- Dynamic extension is unnecessary for stabilization via interconnection and damping assignment passivity-based control
- Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics
- 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
- Swing-up control strategies for a reaction wheel pendulum
- 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
- Stabilization, Lyapunov functions, and dissipation
- Controlled Lagrangians and Stabilization of Euler--Poincaré Mechanical Systems with Broken Symmetry I: Kinetic Shaping
- A Hamiltonian viewpoint in the modeling of switching power converters
- A new family of interconnection and damping assignment passivity-based controllers
- Nonlinear stabilizing control of underactuated inertia wheel pendulum based on coordinate transformation and time-reverse strategy
- Interconnection and damping assignment passivity-based control: a survey
- An increased coupling-based control method for underactuated crane systems: theoretical design and experimental implementation
- Stabilization of electromechanical systems via interconnection and damping assignment
- Experimental control of a single-link flexible robot arm using energy shaping
- Asymptotic Stabilizability of Underactuated Hamiltonian Systems With Two Degrees of Freedom
- Swinging up the spherical pendulum via stabilization of its first integrals.
- Enhanced nonlinear damping for a class of singularly perturbed interconnected nonlinear systems
- Control of a class of underactuated mechanical systems obviating matching conditions
- Energy shaping for position and speed control of a wheeled inverted pendulum in reduced space
- Robust control of underactuated wheeled mobile manipulators using GPI disturbance observers
- Dynamic modeling for airship equipped with ballonets and ballast
- Energy coupling output feedback control of 4-DOF underactuated cranes with saturated inputs
- Discussion on: ``State feedback fuzzy adaptive control for active shimmy damping
- Output feedback stabilization of inverted pendulum on a cart in the presence of uncertainties
- Fixed-time stabilization control for port-Hamiltonian systems
- Uniform ultimate boundedness for underactuated mechanical systems as mismatched uncertainty disappeared
- On the effects of desired damping matrix and desired Hamiltonian function in the matching equation for port-Hamiltonian systems
- Controlled Lagrangians and stabilization of Euler-Poincaré mechanical systems with broken symmetry. II: Potential shaping
- Set-point control for folded configuration of 3-link underactuated gymnastic planar robot: new results beyond the swing-up control
- A controller for 2-DOF underactuated mechanical systems with discontinuous friction
- Swing-up control based on virtual composite links for \(n\)-link underactuated robot with passive first joint
- Sampled-data observer-based output-feedback fuzzy stabilization of nonlinear systems: exact discrete-time design approach
- Furuta's pendulum: a conservative nonlinear model for theory and practise
- Energy coupled-dissipation control for 3-dimensional overhead cranes
- An adaptive variable structure control scheme for underactuated mechanical manipulators
- Nonlinear stabilizing control for a class of underactuated mechanical systems with multi degree of freedoms
- Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples
- Physical damping in IDA-PBC controlled underactuated mechanical systems
- Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
- Passivity based control of a class of Hamiltonian systems with nonholonomic constraints
- Some results on disturbance attenuation for Hamiltonian systems via direct discrete‐time design
- A limit set stabilization by means of the Port Hamiltonian system approach
- A review on the control of second order underactuated mechanical systems
- Proportional retarded controller to stabilize underactuated systems with measurement delays: Furuta pendulum case study
- Modelling an Inertia Wheel Pendulum Benchmark
- Position Control via Force Feedback in the Port-Hamiltonian Framework
- Adaptive IDA‐PBC for underactuated mechanical systems with constant disturbances
- Passivity-based control of underactuated mechanical systems with Coulomb friction: application to earthquake prevention
- Interconnection and damping assignment passivity-based control of a class of underactuated mechanical systems with dynamic friction
- The Helmholtz conditions and the method of controlled Lagrangians
- 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
- Passivity-Based Control Design and Experiments for a Rolling-Balancing System
- On the matching equations of kinetic energy shaping in IDA-PBC
- Global output regulation for a class of single input port-controlled Hamiltonian disturbed systems
- Robust passivity‐based control design for active nonlinear suspension system
- Global bifurcation analysis of a controlled underactuated mechanical system
- A Port-Hamiltonian Approach to Visual Servo Control of a Pick and Place System
- A segmented model based fuel delivery control of PEM fuel cells: a port-Hamiltonian approach
- Bipartite Byzantine‐resilient event‐triggered consensus control of heterogeneous multi‐agent systems
- Energy shaping control of underactuated mechanical systems with fluidic actuation
- Bounded stabilisation of stochastic port-Hamiltonian systems
- Vibration suppression for mass-spring-damper systems with a tuned mass damper using interconnection and damping assignment passivity-based control
- A swing-up of the acrobot based on a simple pendulum strategy
- IDA-PBC with adaptive friction compensation for underactuated mechanical systems
- From underactuation to quasi‐full actuation: Aiming at a unifying control framework for articulated soft robots
- Pseudo-energy shaping for the stabilization of a class of second-order systems
- Energy shaping control for systems with underactuation degrees two by controlled Lagrangian method
- A speed regulator for a force-driven cart-pole system
- Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments
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