Joint position regulation of a class of underactuated mechanical systems affected by LuGre dynamic friction via the IDA-PBC method
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Publication:5863720
DOI10.1080/00207179.2020.1857440zbMath1492.93082OpenAlexW3110260955MaRDI QIDQ5863720
Isaac Gandarilla, Victor Santibáñez, Jesús Sandoval, Ricardo Campa
Publication date: 3 June 2022
Published in: International Journal of Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1080/00207179.2020.1857440
Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15)
Related Items (3)
Solution of matching equations of IDA-PBC by Pfaffian differential equations ⋮ Parameter estimation and adaptive control of Euler–Lagrange systems using the power balance equation parameterisation ⋮ A speed regulator for a force-driven cart-pole system
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- Task-space fully distributed tracking control of networked uncertain robotic manipulators without velocity measurements
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