On the method of interconnection and damping assignment passivity-based control for the stabilization of mechanical systems

DOI10.1134/S1560354714050049zbMath1308.70048arXiv1301.4285OpenAlexW2153745319MaRDI QIDQ2513994

Dong Eui Chang

Publication date: 29 January 2015

Published in: Regular and Chaotic Dynamics (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1301.4285

zbMATH Keywords

stabilizationfeedback controlmechanical systemenergy shaping

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Nonlinear systems in control theory (93C10) Control of mechanical systems (70Q05)

Related Items (8)

Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces ⋮ On the relationship between the \textit{energy shaping} and the \textit{Lyapunov constraint based} methods ⋮ Variational integrators for interconnected Lagrange-Dirac systems ⋮ Asymptotic Stabilizability of Underactuated Hamiltonian Systems With Two Degrees of Freedom ⋮ Designing of robust adaptive passivity-based controller based on reinforcement learning for nonlinear port-Hamiltonian model with disturbance ⋮ On the matching equations of energy shaping controllers for mechanical systems ⋮ Interconnection and damping assignment passivity-based control of an underactuated 2-DOF gyroscope ⋮ Explicit solutions of the kinetic and potential matching conditions of the energy shaping method

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