Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment

IEEE Transactions on Automatic Control

Volumn 47, Issue 8, 2002, Pages 1218-1233

  Ortega, Romeo ^a,b   Spong, Mark W ^a,c   Gómez Estern, Fabio ^d   Blankenstein, Guido ^e  

^a IEEE   (France)

^b CNRS   (France)

^c University of Illinois at Urbana Champaign   (United States)

^d UNIVERSIDAD DE SEVILLA   (Spain)

^e EPFL   (Switzerland)

Author keywords

Energy shaping; Hamiltonian systems; Nonlinear control; Passivity; Underactuated mechanical systems

Indexed keywords

ENERGY SHAPING; PASSIVITY-BASED CONTROLS (PBC);

DAMPING; DEGREES OF FREEDOM (MECHANICS); HAMILTONIANS; KINETIC ENERGY; PARTIAL DIFFERENTIAL EQUATIONS; POTENTIAL ENERGY; SWITCHING; SYSTEM STABILITY;

NONLINEAR CONTROL SYSTEMS;

EID: 0036687767     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2002.800770     Document Type: Article

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