Joint position regulation of a class of underactuated mechanical systems affected by LuGre dynamic friction via the IDA-PBC method

DOI10.1080/00207179.2020.1857440MaRDI QIDQ5863720zbMATH OpenOpenAlexFDO

Authors Isaac Gandarilla, Victor Santibáñez, Jesús Sandoval, Ricardo Campa

Publication date 3 June 2022

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2020.1857440

zbMATH Keywords

IDA-PBC methodLuGre dynamic friction modelLyapunov theoryunderactuated mechanical systems

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• IDA-PBC with adaptive friction compensation for underactuated mechanical systems
• Interconnection and damping assignment passivity-based control of a class of underactuated mechanical systems with dynamic friction
• Regulation control of an underactuated mechanical system with discontinuous friction and backlash
• A controller for 2-DOF underactuated mechanical systems with discontinuous friction
• Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances

Cites work

• A new model for control of systems with friction
• Adaptive backstepping output feedback control of DC motor actuator with friction and load uncertainty compensation
• Adaptive IDA-PBC for underactuated mechanical systems with constant disturbances
• scientific article; zbMATH DE number 439900 (Why is no real title available?)
• scientific article; zbMATH DE number 46299 (Why is no real title available?)
• Interconnection and damping assignment passivity-based control of a class of underactuated mechanical systems with dynamic friction
• Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
• Motion control of underactuated mechanical systems
• Nonlinear systems.
• Physical damping in IDA-PBC controlled underactuated mechanical systems
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Task-space fully distributed tracking control of networked uncertain robotic manipulators without velocity measurements

Cited in

(7)

• Regulation control of an underactuated mechanical system with discontinuous friction and backlash
• Interconnection and damping assignment passivity-based control of a class of underactuated mechanical systems with dynamic friction
• IDA-PBC with adaptive friction compensation for underactuated mechanical systems
• A speed regulator for a force-driven cart-pole system
• Solution of matching equations of IDA-PBC by Pfaffian differential equations
• Adaptive friction compensation for a class of mechanical systems based on LuGre model
• Parameter estimation and adaptive control of Euler–Lagrange systems using the power balance equation parameterisation

This page was built for publication: Joint position regulation of a class of underactuated mechanical systems affected by LuGre dynamic friction via the IDA-PBC method

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5863720)