Control of a class of underactuated mechanical systems obviating matching conditions

DOI10.1016/j.automatica.2017.07.033zbMath1375.93111OpenAlexW2752848347MaRDI QIDQ1678615

Rachit Mehra, Sumeet G. Satpute, N. M. Singh, Faruk Kazi

Publication date: 17 November 2017

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2017.07.033

zbMATH Keywords

stability analysismechanical systemsnonlinear control systemsenergy shaping

Mathematics Subject Classification ID

Control/observation systems governed by partial differential equations (93C20) Nonlinear systems in control theory (93C10) Geometric methods (93B27) Adaptive or robust stabilization (93D21) Control of mechanical systems (70Q05)

Related Items (4)

Solution of matching equations of IDA-PBC by Pfaffian differential equations ⋮ Tackling mismatched uncertainty in robust constraint-following control of underactuated systems ⋮ Control of a class of underactuated mechanical systems obviating matching conditions ⋮ Adaptive fuzzy hierarchical sliding mode control of uncertain under-actuated switched nonlinear systems with actuator faults

Cites Work

• Unnamed Item
• A constructive procedure for energy shaping of port-Hamiltonian systems
• Constructive immersion and invariance stabilization for a class of underactuated mechanical systems
• Control of a class of underactuated mechanical systems obviating matching conditions
• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
• Interconnection and damping assignment passivity-based control: a survey
• Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem
• Shaping the Energy of Mechanical Systems Without Solving Partial Differential Equations
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Analysis and Control of Underactuated Mechanical Systems

This page was built for publication: Control of a class of underactuated mechanical systems obviating matching conditions