Stabilization of a class of underactuated parallel robots via energy shaping: application to cable driven manipulators

DOI10.1016/J.AUTOMATICA.2023.111201zbMath1520.93372OpenAlexW4385144480MaRDI QIDQ6136149

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Publication date: 28 August 2023

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2023.111201

zbMATH Keywords

passivity-based controlcable driven robotspotential energy shapingunderactuated parallel robots

Mathematics Subject Classification ID

Control/observation systems governed by partial differential equations (93C20) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Global stabilisation of underactuated mechanical systems via PID passivity-based control
• Asymptotic stability for a transformed nonlinear UAV model with a suspended load via energy shaping
• Energy Shaping of Mechanical Systems via PID Control and Extension to Constant Speed Tracking
• Solution of matching equations of IDA-PBC by Pfaffian differential equations
• Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one

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