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

DOI10.1109/TAC.2007.899064MaRDI QIDQ5282153zbMATH OpenFDO

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)

• scientific article; zbMATH DE number 1816773 (Why is no real title available?)
• Controller design for mechanical systems with underactuation degree one based on controlled Lagrangians method
• On the matching equations of kinetic energy shaping in IDA-PBC
• Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances
• On the matching equations of energy shaping controllers for mechanical systems
• An elementary result on the uniform stability of a class of continuous autonomous systems
• On the method of energy shaping via static output feedback for stabilization of mechanical systems
• A simplified IDA-PBC design for underactuated mechanical systems with applications
• Bounded inputs total energy shaping for a class of underactuated mechanical systems
• Data-driven passivity-based control of underactuated mechanical systems via interconnection and damping assignment
• Interconnection and damping assignment passivity-based control of a class of underactuated mechanical systems with dynamic friction
• Solution of matching equations of IDA-PBC by Pfaffian differential equations
• Stabilization control of quadrotor helicopter through matching solution by controlled Lagrangian method
• Energy shaping control of underactuated mechanical systems with fluidic actuation
• The direct Lyapunov method for the stabilisation of the Furuta pendulum
• Exponential stability of port-Hamiltonian systems via energy-shaped method
• Energy shaping control for systems with underactuation degrees two by controlled Lagrangian method
• Symplectic discrete-time energy-based control for nonlinear 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
• Power-based control of physical systems
• A limit set stabilization by means of the port Hamiltonian system approach

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