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Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
2004
Proceedings of the 2004 American Control Conference
unpublished
Interconnection and damping assignment passivity-based control is a new controller design methodology developed for (asymptotic) stabilization of nonlinear systems that does not rely on, sometimes unnatural and technique-driven, linearization or decoupling procedures but instead endows the closed-loop system with a Hamiltonian structure with a desired energy function-that qualifies as Lyapunov function for the desired equilibrium. The assignable energy functions are characterized by a set of
doi:10.23919/acc.2004.1384373
fatcat:xr2wbhbl4rhujbrud354ypff6m