Canonical transformations used to derive robot control laws from a port-controlled Hamiltonian system perspective

DOI10.1016/j.automatica.2008.02.004zbMath1153.93008OpenAlexW2085592746MaRDI QIDQ999064

Juan Ignacio Mulero-Martínez

Publication date: 30 January 2009

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2008.02.004

zbMATH Keywords

nonlinear controlpassive compensationtracking systemsmechanical manipulators

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Canonical structure (93B10) Transformations (93B17)

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