Stabilization of a class of underactuated mechanical systems via total energy shaping

Proceedings of the IEEE Conference on Decision and Control

Volumn 2, Issue , 2001, Pages 1137-1143

  Gómez Estern, Fabio ^a   Ortega, Romeo ^b   Rubio, Francisco R ^a   Aracil, Javier ^a  

^a UNIVERSIDAD DE SEVILLA   (Spain)

^b CNRS   (France)

Author keywords

[No Author keywords available]

Indexed keywords

ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; CONTROL EQUIPMENT; DAMPING; DEGREES OF FREEDOM (MECHANICS); MATRIX ALGEBRA; ORDINARY DIFFERENTIAL EQUATIONS; PARTIAL DIFFERENTIAL EQUATIONS; POTENTIAL ENERGY;

UNDERACTUATED MECHANICAL SYSTEMS;

NONLINEAR CONTROL SYSTEMS;

EID: 0035709034     PISSN: 01912216     EISSN: None     Source Type: Journal    
DOI: 10.1109/CDC.2001.981038     Document Type: Article

References (5)

1. Stabilization of port-controlled hamiltonian systems: Energy-balancing and passivation
2. Controlled lagrangians and the stabilization of mechanical systems
3. Swinging up a pendulum by energy control