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

DOI10.1016/J.AUTOMATICA.2023.111201MaRDI QIDQ6136149zbMATH OpenOpenAlexFDO

Authors

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) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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Cites work

• 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
• Global stabilisation of underactuated mechanical systems via PID passivity-based control
• Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
• Solution of matching equations of IDA-PBC by Pfaffian differential equations

Cited in

(2)

• Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics
• Adaptive interconnection and damping assignment passivity-based control for an underactuated cable-driven robot

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