Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
DOI10.1007/978-3-540-73890-9_11zbMATH Open1136.93020OpenAlexW4238391280MaRDI QIDQ5436768FDOQ5436768
Giuseppe Viola, Alessandro Astolfi, Romeo Ortega, Jose Ángel Acosta, Ravi N. Banavar
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://doi.org/10.1007/978-3-540-73890-9_11
Control of mechanical systems (70Q05) Design techniques (robust design, computer-aided design, etc.) (93B51) Asymptotic stability in control theory (93D20) Lyapunov and storage functions (93D30)
Cites Work
- Interconnection and damping assignment passivity-based control: a survey
- A Treatise on the Analytical Dynamics of Particles and Rigid Bodies
- Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example
- Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
- An observer-based set-point controller for robot manipulators with flexible joints
- The matching conditions of controlled Lagrangians and IDA-passivity based control
- The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
- 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
- Canonical transformation and stabilization of generalized Hamiltonian systems
- On the $\lambda$-Equations for Matching Control Laws
- Control of nonlinear underactuated systems
Cited In (5)
- Bounded inputs total energy shaping for a class of underactuated mechanical systems
- Energy shaping control of underactuated mechanical systems with fluidic actuation
- Title not available (Why is that?)
- On the method of energy shaping via static output feedback for stabilization of mechanical systems
- Furuta's pendulum: a conservative nonlinear model for theory and practise
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