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

DOI10.1016/J.AUTOMATICA.2008.02.004MaRDI QIDQ999064zbMATHOpenAlexFDO

Authors 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

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

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Cites work

• scientific article; zbMATH DE number 46299 (Why is no real title available?)
• scientific article; zbMATH DE number 3601149 (Why is no real title available?)
• scientific article; zbMATH DE number 194581 (Why is no real title available?)
• scientific article; zbMATH DE number 3243324 (Why is no real title available?)
• A New Feedback Method for Dynamic Control of Manipulators
• A unified perspective on robot control: The energy lyapunov function approach
• Canonical transformation and stabilization of generalized Hamiltonian systems
• Dissipative systems analysis and control. Theory and applications
• Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
• L\(_2\) gain and passivity techniques in nonlinear control.
• Model Tracking Control of Hamiltonian Systems
• On the stability of motion
• Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations.

Cited in

(4)

• Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations.
• On a 3-D generalized Hamiltonian model with conservative and dissipative chaotic flows
• Conservative chaos in a class of nonconservative systems: theoretical analysis and numerical demonstrations
• Position control via force feedback in the port-Hamiltonian framework

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