Stabilisation of a class of 2-DOF underactuated mechanical systems via direct Lyapunov approach
From MaRDI portal
Publication:2871797
DOI10.1080/00207179.2013.784809zbMath1278.93186OpenAlexW1971358616MaRDI QIDQ2871797
Galip Cansever, Haluk Gorgun, Türker Türker
Publication date: 9 January 2014
Published in: International Journal of Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1080/00207179.2013.784809
Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15)
Related Items
Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces, Nonlinear stabilizing control for a class of underactuated mechanical systems with multi degree of freedoms, On the global stabilization of 6‐DOF quadrotors: A direct Lyapunov approach
Cites Work
- Furuta's pendulum: a conservative nonlinear model for theory and practise
- Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
- Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups
- Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem
- The Lyapunov direct method for the stabilisation of the ball on the actuated beam
- Control of nonlinear underactuated systems
- Dynamics and control of a class of underactuated mechanical systems
- Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
- Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
- Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
- The direct Lyapunov method for the stabilisation of the Furuta pendulum
