Passivity-based control of implicit port-Hamiltonian systems with holonomic constraints

DOI10.1016/j.sysconle.2016.04.004zbMath1344.93077OpenAlexW2417378546MaRDI QIDQ313267

Fernando Castaños, Dmitry Gromov

Publication date: 9 September 2016

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2016.04.004

zbMATH Keywords

passivitypendulumholonomic constraintsHamiltonian dynamicsimplicit modelsswing-up

Mathematics Subject Classification ID

Quadratic programming (90C20) Application models in control theory (93C95) Control of mechanical systems (70Q05) Homoclinic and heteroclinic solutions to ordinary differential equations (34C37)

Cites Work

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