Stabilization of Underactuated Mechanical Systems Via Interconnection and Damping Assignment
By Romeo Ortega, Mark W. Spong. 2000
192 citations recorded by the source corpus.
Subfields: Control and Systems Engineering
View Paper: https://www.semanticscholar.org/paper/9eaa41c5718537dff20e2fad5adc40340a3b9b4b
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In Control and Systems Engineering
- Romeo Ortega
- A. J. van der Schaft
- Eloísa García-Canseco
- Bernhard Maschke
- Sujit Nair
- Guido Blankenstein
- Naomi Ehrich Leonard
- Mark W. Spong
Citations in the corpus
- Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment (2002, background): “The present paper, which is an expanded version of [21] and [11], is concerned with the application of IDA–PBC to the problem of stabilization of underactuated mechanical systems.”
- Stable Synchronization of Mechanical System Networks (2008, methodology): “The method of controlled Lagrangians and the equivalent interconnection and damping assignment passivity-based control (IDA-PBC) method use energy shaping for stabilization of underactuated mechanical systems (see [1, 19] and references therein).”
- Nonlinear control of the Reaction Wheel Pendulum (2001, background): “In contrast to the approach here, which relies on switching between separate swingup and balance controllers, it is also possible to show the existence of globally stabilizing controllers for this system that do not rely on switching (Olfati-Saber, 2000; Praly &Ortega, 2000; Ortega & Spong, 2000).”
- Putting energy back in control (2001, methodology): “The existing applications of interconnection and damping assignment PBC include mass- balance systems [18], electrical motors [19], power systems [20], magnetic levitation systems [21], underactuated mechanical systems [28], and power converters [22].”
- Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems (2008, unknown): “Some simple calculations show that (43) becomes , which is known as the potential energy matching equation [3], [25].”
- Interconnection and Damping Assignment Passivity-Based Control: A Survey (2004, methodology): “On the other hand, it is also proposed in [43] to split the control into u1⁄4 ues(q, p)þ udi(q, p), as suggested in Section 3.”