Partial stabilization of underactuated Euler-Lagrange systems via a class of feedback transformations

DOI10.1016/S0167-6911(01)00170-0zbMath0987.93065OpenAlexW2060728562MaRDI QIDQ5958564

Shiriaev, Anton S., O. Kolesnichenko

Publication date: 3 March 2002

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

Full work available at URL: https://doi.org/10.1016/s0167-6911(01)00170-0

zbMATH Keywords

passivityfeedback transformationpartial stabilizationPendubotunderactuated Lagrangian system

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Transformations (93B17) Lagrange's equations (70H03)

Related Items (12)

Periodic motion planning for virtually constrained Euler--Lagrange systems ⋮ A remark on controlled Lagrangian approach ⋮ Global motion analysis of energy-based control for 3-link planar robot with a single actuator at the first joint ⋮ Amplitude and rotational speed control of variable length pendulum by periodic input ⋮ A unified solution to swing-up control for \(n\)-link planar robot with single passive joint based on virtual composite links and passivity ⋮ Swinging up the spherical pendulum via stabilization of its first integrals. ⋮ Set-point control for folded configuration of 3-link underactuated gymnastic planar robot: new results beyond the swing-up control ⋮ Modification via averaging of partial-energy-shaping control for creating oscillations: cart-pendulum example ⋮ Partial stability and control: the state-of-the-art and future trends ⋮ Trajectory tracking control of variable length pendulum by partial energy shaping ⋮ Analysis of the energy-based swing-up control for the double pendulum on a cart ⋮ Swing-up control based on virtual composite links for \(n\)-link underactuated robot with passive first joint

Cites Work

• Unnamed Item
• Swinging up a pendulum by energy control
• The notion of \(V\)-detectability and stabilization of invariant sets of nonlinear systems
• Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem
• Energy based control of the Pendubot
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
• Swinging control of nonlinear oscillations
• On global properties of passivity-based control of an inverted pendulum
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• VSS-version of energy-based control for swinging up a pendulum

This page was built for publication: Partial stabilization of underactuated Euler-Lagrange systems via a class of feedback transformations