Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances
From MaRDI portal
Publication:5348665
DOI10.1002/RNC.3615zbMATH Open1369.93167OpenAlexW2491605582MaRDI QIDQ5348665FDOQ5348665
Authors: Martin Crespo, Alejandro Donaire, Jose Guadalupe Romero, Romeo Ortega, Bruno Siciliano 
Publication date: 18 August 2017
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.3615
Recommendations
- Adaptive IDA-PBC for underactuated mechanical systems with constant disturbances
- Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments
- IDA-PBC with adaptive friction compensation for underactuated mechanical systems
- Physical damping in IDA-PBC controlled underactuated mechanical systems
- Robust energy shaping control of mechanical systems
Sensitivity (robustness) (93B35) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Stability of control systems (93D99)
Cites Work
- Interconnection and damping assignment passivity-based control: a survey
- Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example
- Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
- Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
- Local linear dynamics assignment in IDA-PBC
- On the addition of integral action to port-controlled Hamiltonian systems
- Power-based control: Canonical coordinate transformations, integral and adaptive control
- Exponential Stabilization of Boundary Controlled Port-Hamiltonian Systems With Dynamic Feedback
- Robust energy shaping control of mechanical systems
- On the passivity based control of irreversible processes: a port-Hamiltonian approach
- Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
- Vibration suppression for mass-spring-damper systems with a tuned mass damper using interconnection and damping assignment passivity-based control
- Stabilization of an underactuated bottom‐heavy airship via interconnection and damping assignment
- Passivity-based control of a magnetically levitated flexible beam
Cited In (22)
- Finite and fixed-time stabilization of discrete-time systems using passivity-based control
- Holonomic rolling nonprehensile manipulation primitive
- Nonholonomic rolling nonprehensile manipulation primitive
- On the matching equations of kinetic energy shaping in IDA-PBC
- Robust passivity‐based control design for active nonlinear suspension system
- A simplified IDA-PBC design for underactuated mechanical systems with applications
- Bounded inputs total energy shaping for a class of underactuated mechanical systems
- Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics
- Energy shaping control of underactuated mechanical systems with fluidic actuation
- IDA-PBC with adaptive friction compensation for underactuated mechanical systems
- Robust energy shaping control of mechanical systems
- Adaptive IDA-PBC for underactuated mechanical systems with constant disturbances
- Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments
- Tackling mismatched uncertainty in robust constraint-following control of underactuated systems
- Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances
- Passivity-based control design and experiments for a rolling-balancing system
- Stabilization of a class of nonlinear underactuated mechanical systems with 2-DOF via immersion and invariance
- Joint position regulation of a class of underactuated mechanical systems affected by LuGre dynamic friction via the IDA-PBC method
- Adaptive interconnection and damping assignment passivity-based control for an underactuated cable-driven robot
- Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances
- Physical damping in IDA-PBC controlled underactuated mechanical systems
- Interconnection and damping assignment passivity-based control of an underactuated 2-DOF gyroscope
This page was built for publication: Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5348665)
