Journal ArticleDOI
Stabilization of Underactuated Mechanical Systems Via Interconnection and Damping Assignment
Romeo Ortega,Mark W. Spong +1 more
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TLDR
In this paper, the application of the newly developed interconnection and damping assignment (IDA) passivity-based control (PBC) to the problem of stabilization of underactuated mechanical systems is discussed.About:
This article is published in IFAC Proceedings Volumes.The article was published on 2000-03-01. It has received 189 citations till now. The article focuses on the topics: Inverted pendulum & Nonlinear control.read more
Citations
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Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
TL;DR: A new PBC theory is developed which extends to a broader class of systems the aforementioned energy-balancing stabilization mechanism and the structure invariance and considers instead port-controlled Hamiltonian models, which result from the network modelling of energy-conserving lumped-parameter physical systems with independent storage elements, and strictly contain the class of EL models.
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Putting energy back in control
TL;DR: In this article, the authors show that standard PBC is stymied by the presence of unbounded energy dissipation, hence it is applicable only to systems that are stabilizable with passive controllers.
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Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
TL;DR: This work describes a class of systems for which IDA-PBC yields a smooth asymptotically stabilizing controller with a guaranteed domain of attraction, given in terms of solvability of certain partial differential equations.
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Interconnection and damping assignment passivity-based control: a survey
TL;DR: The fundamental theory, main new results and practical applications of this control system design approach are reviewed as well as to discuss the current open problems and future directions.
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Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems
TL;DR: The main objectives of this paper are to extend the CbI method to make it more widely applicable and to overcome the aforementioned dissipation obstacle, and to show that various popular variants of Standard PBC can be derived proceeding from a unified perspective.
References
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Book
L2-Gain and Passivity Techniques in Nonlinear Control
TL;DR: In this article, a small gain and passivity of input-output maps are discussed. But the authors focus on the Hamiltonian system as passive systems and do not consider the Hamilton-Jacobi Inequalities.
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Paradigms and puzzles in the theory of dynamical systems
TL;DR: In this article, a self-contained exposition is given of an approach to mathematical models, in particular to the theory of dynamical systems, which leads to a new view of the notions of controllability and observability, and of the interconnection of systems.
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Adaptive motion control of rigid robots: a tutorial
Romeo Ortega,Mark W. Spong +1 more
TL;DR: The intent is to lend some perspective to the growing list of adaptive control results for manipulators by providing a unified framework for comparison of those adaptive control algorithms which have been shown to be globally convergent.
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A new feedback method for dynamic control of manipulators
Morikazu Takegaki,Suguru Arimoto +1 more
TL;DR: A new approach to the dynamic control of manipulators is developed from the viewpoint of mechanics and it is shown that a linear feedback of generalized coordinates and their derivatives are effective for motion control in the large.