Total energy shaping control of mechanical systems: Simplifying the matching equations via coordinate changes

IEEE Transactions on Automatic Control

Volumn 52, Issue 6, 2007, Pages 1093-1099

  Viola, G ^a   Ortega, R ^b   Banavar, R ^c   Acosta, J A ^d   Astolfi, A ^a,e  

^a UNIVERSITY OF ROME TOR VERGATA   (Italy)

^b UNIV PARIS SUD   (France)

^c INDIAN INSTITUTE OF TECHNOLOGY BOMBAY   (India)

^d UNIVERSIDAD DE SEVILLA   (Spain)

^e IMPERIAL COLLEGE LONDON   (United Kingdom)

Author keywords

Energy shaping; Mechanical systems; Nonlinear control; Passivity based control

Indexed keywords

CONTROL SYSTEM STABILITY; CONTROL SYSTEM SYNTHESIS; LYAPUNOV FUNCTIONS; NONLINEAR CONTROL SYSTEMS; PARTIAL DIFFERENTIAL EQUATIONS;

ENERGY SHAPING CONTROL; MECHANICAL SYSTEMS; PASSIVITY-BASED CONTROL;

POWER CONTROL;

EID: 34447124406     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2007.899064     Document Type: Article

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