Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example

DOI10.1002/rnc.1088zbMath1134.93346OpenAlexW2171676780MaRDI QIDQ5293158

Arun D. Mahindrakar, Giuseppe Viola, Alessandro Astolfi, Romeo S. Ortega

Publication date: 26 June 2007

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.1088

zbMATH Keywords

nonlinear controlpassivityHamiltonian systemsenergy shapingAcrobot

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Lyapunov and storage functions (93D30) Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05)

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Cites Work

• A non-smooth control law and time-optimality notions for the acrobot

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