Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances
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Publication:5348665
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Cites work
- Exponential Stabilization of Boundary Controlled Port-Hamiltonian Systems With Dynamic Feedback
- Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example
- Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
- Interconnection and damping assignment passivity-based control: a survey
- Local linear dynamics assignment in IDA-PBC
- On the addition of integral action to port-controlled Hamiltonian systems
- On the passivity based control of irreversible processes: a port-Hamiltonian approach
- Passivity-based control of a magnetically levitated flexible beam
- Power-based control: Canonical coordinate transformations, integral and adaptive control
- Robust energy shaping control of mechanical systems
- Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
- Stabilization of an underactuated bottom‐heavy airship via interconnection and damping assignment
- 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
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
- A simplified IDA-PBC design for underactuated mechanical systems with applications
- Robust passivity‐based control design for active nonlinear suspension system
- 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
- Robust energy shaping control of mechanical systems
- IDA-PBC with adaptive friction compensation for underactuated mechanical systems
- Tackling mismatched uncertainty in robust constraint-following control of underactuated 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
- 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
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