A simplified IDA-PBC design for underactuated mechanical systems with applications

Abstract

We develop a method to simplify the partial differential equations (PDEs) associated to the potential energy for interconnection and damping assignment passivity based control (IDA-PBC) of a class of underactuated mechanical systems (UMSs). Solving the PDEs, also called the matching equations, is the main difficulty in the construction and application of… (More)
DOI: 10.1016/j.ejcon.2015.12.001

19 Figures and Tables

Topics

  • Presentations referencing similar topics