Energy Shaping of Mechanical Systems via PID Control and Extension to Constant Speed Tracking

DOI10.1109/TAC.2016.2521725zbMath1359.70100MaRDI QIDQ2980292

Alejandro Donaire, Romeo S. Ortega, Jose Guadalupe Romero

Publication date: 3 May 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Control of mechanical systems (70Q05)

Related Items (11)

Solution of matching equations of IDA-PBC by Pfaffian differential equations ⋮ Design of PID controller based on a self-adaptive state-space predictive functional control using extremal optimization method ⋮ Stabilization of a class of nonlinear underactuated mechanical systems with 2-DOF via immersion and invariance ⋮ Bounded inputs total energy shaping for a class of underactuated mechanical systems ⋮ Stabilization of a class of underactuated parallel robots via energy shaping: application to cable driven manipulators ⋮ A fast design technique for robust industrial controllers ⋮ Global stabilisation of underactuated mechanical systems via PID passivity-based control ⋮ On the matching equations of kinetic energy shaping in IDA-PBC ⋮ Asymptotic stability for a transformed nonlinear UAV model with a suspended load via energy shaping ⋮ Passivity-Based Control Design and Experiments for a Rolling-Balancing System ⋮ A speed regulator for a force-driven cart-pole system

This page was built for publication: Energy Shaping of Mechanical Systems via PID Control and Extension to Constant Speed Tracking