Port-based asymptotic curve tracking for mechanical systems

DOI10.3166/ejc.10.411-420zbMath1293.93384OpenAlexW2048270103MaRDI QIDQ2511923

Stefano Stramigioli, Vincent Duindam

Publication date: 7 August 2014

Published in: European Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.3166/ejc.10.411-420

zbMATH Keywords

nonlinear controlmechanical systemsHamiltonian control systems

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control of mechanical systems (70Q05)

Related Items (8)

Energy-Aware Robotics ⋮ Practical tracking of uncertain nonlinear systems via adaptive event-triggered output feedback ⋮ Smooth, time‐invariant regulation of nonholonomic systems via energy pumping‐and‐damping ⋮ Path following of a class of underactuated mechanical systems via immersion and invariance‐based orbital stabilization ⋮ Bilateral teleoperation of stochastic port‐Hamiltonian systems using energy tanks ⋮ Further development of the mathematical model of a snakeboard ⋮ Dynamics of a waveboard simplified ⋮ Orbital stabilization of nonlinear systems via Mexican sombrero energy shaping and pumping-and-damping injection

Cites Work

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• Existence and uniqueness of periodic solutions for a kind of high-order \(p\)-Laplacian Duffing differential equation with sign-changing coefficient ahead of linear term
• On the Hamiltonian formulation of nonholonomic mechanical systems
• L\(_2\) gain and passivity techniques in nonlinear control.
• Impedance Control: An Approach to Manipulation: Part III—Applications
• A New Feedback Method for Dynamic Control of Manipulators
• Modeling and IPC control of interactive mechanical systems. A coordinate-free approach

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