Bounded inputs total energy shaping for a class of underactuated mechanical systems

DOI10.1002/rnc.5765zbMath1527.93181arXiv2104.02337MaRDI QIDQ6060817

Amir Masoud Molaei, Hamid D. Taghirad, Jose Guadalupe Romero, M. Reza J. Harandi

Publication date: 29 November 2023

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2104.02337

zbMATH Keywords

actuator saturationunderactuated mechanical systemsbounded inputtotal energy shapingvelocity bounds

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (1)

Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances

Cites Work

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