Controller design for mechanical systems with underactuation degree one based on controlled Lagrangians method
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Publication:3566372
DOI10.1080/00207170902748724zbMath1190.93031OpenAlexW1985722775MaRDI QIDQ3566372
Publication date: 7 June 2010
Published in: International Journal of Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1080/00207170902748724
stabilisationgyroscopic forcesmatching conditionunderactuated mechanical systemscontrolled Lagrangians methodthe Pendubot
Feedback control (93B52) Stabilization of systems by feedback (93D15) Design techniques (robust design, computer-aided design, etc.) (93B51) Control of mechanical systems (70Q05)
Related Items (2)
Angular velocity stabilization of underactuated rigid satellites based on energy shaping ⋮ Energy shaping control for systems with underactuation degrees two by controlled Lagrangian method
Cites Work
- Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
- Periodic motions of the Pendubot via virtual holonomic constraints: theory and experiments
- Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem
- The matching conditions of controlled Lagrangians and IDA-passivity based control
- On the $\lambda$-Equations for Matching Control Laws
- Control of nonlinear underactuated systems
- Energy based control of the Pendubot
- A hybrid switching control strategy for nonlinear and underactuated mechanical systems
- 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
- Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
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