Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
DOI10.1007/978-3-540-73890-9_11zbMath1136.93020OpenAlexW4238391280MaRDI QIDQ5436768
Giuseppe Viola, Alessandro Astolfi, Jose Ángel Acosta, Romeo S. Ortega, Ravi N. Banavar
Publication date: 17 January 2008
Published in: Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/978-3-540-73890-9_11
Lyapunov and storage functions (93D30) Design techniques (robust design, computer-aided design, etc.) (93B51) Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05)
Related Items (1)
Cites Work
- An observer-based set-point controller for robot manipulators with flexible joints
- Interconnection and damping assignment passivity-based control: a survey
- Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem
- The matching conditions of controlled Lagrangians and IDA-passivity based control
- A Treatise on the Analytical Dynamics of Particles and Rigid Bodies
- The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
- On the $\lambda$-Equations for Matching Control Laws
- Control of nonlinear underactuated 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
- Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example
- Canonical transformation and stabilization of generalized Hamiltonian systems
This page was built for publication: Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
