Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes

DOI10.1109/TAC.2007.899064zbMATH Open1366.93415MaRDI QIDQ5282153FDOQ5282153

Authors: Giuseppe Viola, Jose Ángel Acosta, Alessandro Astolfi, Romeo Ortega, Ravi N. Banavar 

Publication date: 27 July 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Cited In (23)

• On the matching equations of energy shaping controllers for mechanical systems
• Interconnection and damping assignment passivity-based control of a class of underactuated mechanical systems with dynamic friction
• Stabilization control of quadrotor helicopter through matching solution by controlled Lagrangian method
• On the matching equations of kinetic energy shaping in IDA-PBC
• A simplified IDA-PBC design for underactuated mechanical systems with applications
• Bounded inputs total energy shaping for a class of underactuated mechanical systems
• An elementary result on the uniform stability of a class of continuous autonomous systems
• Energy shaping control of underactuated mechanical systems with fluidic actuation
• The direct Lyapunov method for the stabilisation of the Furuta pendulum
• Energy shaping control for systems with underactuation degrees two by controlled Lagrangian method
• Title not available (Why is that?)
• On the method of energy shaping via static output feedback for stabilization of mechanical systems
• A speed regulator for a force-driven cart-pole system
• Position control via force feedback in the port-Hamiltonian framework
• A Hamiltonian viewpoint in the modeling of switching power converters
• Exponential stability of port-Hamiltonian systems via energy-shaped method
• A limit set stabilization by means of the port Hamiltonian system approach
• Symplectic discrete-time energy-based control for nonlinear mechanical systems
• Controller design for mechanical systems with underactuation degree one based on controlled Lagrangians method
• Solution of matching equations of IDA-PBC by Pfaffian differential equations
• Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances
• Power-based control of physical systems
• Data-driven passivity-based control of underactuated mechanical systems via interconnection and damping assignment

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