Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems

Automatica

Volumn 38, Issue 4, 2002, Pages 585-596

  Ortega, Romeo ^a   Van der Schaft, Arjan ^b   Maschke, Bernhard ^c   Escobar, Gerardo ^d  

^a UNIV PARIS SUD   (France)

^b UNIVERSITY OF TWENTE   (Netherlands)

^c UNIVERSITÉ LYON 1   (France)

^d Northeastern University   (United States)

Author keywords

Hamiltonian systems; Nonlinear control; Passivity; Stabilization of nonlinear systems

Indexed keywords

ELECTROMECHANICAL DEVICES; EQUATIONS OF MOTION; HAMILTONIANS; LAGRANGE MULTIPLIERS; MATHEMATICAL MODELS; NONLINEAR CONTROL SYSTEMS; POTENTIAL ENERGY; ROBUSTNESS (CONTROL SYSTEMS);

PASSIVITY-BASED CONTROL (PBC);

CLOSED LOOP CONTROL SYSTEMS;

EID: 0036533002     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0005-1098(01)00278-3     Document Type: Article

References (23)

1. Asymptotic stabilization of selected equilibria of the underactuated Kirchhoff's equations
2. The matching conditions of controlled Lagrangians and interconnection assignment passivity based control
3. Controlled Lagrangians and the stabilization of mechanical systems
4. On representations and integrability of mathematical structures in energy-conserving physical systems
5. Canonical transformations and stabilization of generalized Hamiltonian systems
6. Energy-based Lyapunov functions for forced Hamiltonian systems with dissipation
7. Output feedback stabilization of mass-balance systems
8. An energy-shaping approach to excitation control of synchronous generators
9. Adaptive motion control of rigid robots: A tutorial
10. Stabilization of underactuated mechanical systems via interconnection and damping assignment
11. Putting energy back in control
12. On output feedback global stabilization of Euler-Lagrange systems
13. Extending passivity-based control beyond mechanics: A synchronous motor example
14. A robustly stable output feedback saturated controller for the boost DC-to-DC converter
15. Nonlinear control of magnetic levitation systems via energy-balancing
16. Passive output feedback and port interconnection