Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces

DOI10.1016/j.sysconle.2016.05.006zbMath1344.93048arXiv1506.07679OpenAlexW2571295508MaRDI QIDQ313305

Romeo S. Ortega, Jose Guadalupe Romero, Alejandro Donaire

Publication date: 9 September 2016

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

Full work available at URL: https://arxiv.org/abs/1506.07679

zbMATH Keywords

mechanical systemspassivity-based controlstability of nonlinear systems

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Design techniques (robust design, computer-aided design, etc.) (93B51) Control of mechanical systems (70Q05)

Related Items (9)

Bounded inputs total energy shaping for a class of underactuated mechanical systems ⋮ Robust passive tracking control for an uncertain soft actuator using robust right coprime factorization ⋮ Energy shaping control of underactuated mechanical systems with fluidic actuation ⋮ Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances ⋮ Global stabilisation of underactuated mechanical systems via PID passivity-based control ⋮ On the matching equations of kinetic energy shaping in IDA-PBC ⋮ Passivity-Based Control Design and Experiments for a Rolling-Balancing System ⋮ Stabilisation of a relative equilibrium of an underactuated AUV on SE(3) ⋮ IDA-PBC with adaptive friction compensation for underactuated mechanical systems

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