Towards Power-Based Control Strategies for a Class of Nonlinear Mechanical Systems

DOI10.1007/978-3-540-73890-9_9zbMATH Open1136.93038OpenAlexW2164671885MaRDI QIDQ5436766FDOQ5436766

Authors: Alessandro de Rinaldis, Jacquelien M. A. Scherpen, Romeo Ortega 

Publication date: 17 January 2008

Published in: Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 (Search for Journal in Brave)

Full work available at URL: https://pure.rug.nl/ws/files/2859829/2006ProcIFACWkshLHMNCdeRinaldis.pdf

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zbMATH Keywords

stabilizationnonlinear mechanical systemspassivity properties

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Application models in control theory (93C95) Adaptive or robust stabilization (93D21)

Cited In (3)

• On the stabilization of the inverted-cart pendulum using the saturation function approach
• A power-based description of standard mechanical systems
• Power-based control: Canonical coordinate transformations, integral and adaptive control

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