Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes

DOI10.1007/978-3-540-73890-9_11MaRDI QIDQ5436768zbMATHOpenAlexFDO

Authors Giuseppe Viola, Jose Ángel Acosta, Alessandro Astolfi, Romeo Ortega, 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

zbMATH Keywords

controller designasymptotic stabilizationLagrangian or Hamiltonian structure

Mathematics Subject Classification ID

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)

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Cites work

• A Treatise on the Analytical Dynamics of Particles and Rigid Bodies
• An observer-based set-point controller for robot manipulators with flexible joints
• Canonical transformation and stabilization of generalized Hamiltonian systems
• Control of nonlinear underactuated systems
• Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
• 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
• On the $\lambda$-Equations for Matching Control Laws
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
• The matching conditions of controlled Lagrangians and IDA-passivity based control

Cited in

(9)

• scientific article; zbMATH DE number 1816773 (Why is no real title available?)
• Furuta's pendulum: a conservative nonlinear model for theory and practise
• On the matching equations of energy shaping controllers for mechanical systems
• On the method of energy shaping via static output feedback for stabilization of mechanical systems
• Bounded inputs total energy shaping for a class of underactuated mechanical systems
• Continuous finite-time regulation of Euler-Lagrange systems via energy shaping
• Robust energy shaping control of mechanical systems
• Energy shaping control of underactuated mechanical systems with fluidic actuation
• Energy shaping for systems with two degrees of underactuation and more than three degrees of freedom

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