Overcoming the Dissipation Condition in Passivity-based Control for a class of mechanical systems
نویسندگان
چکیده
منابع مشابه
Overcoming the Dissipation Condition in Passivity-based Control for a class of mechanical systems
A well-known problem in the application of the Interconnection and Damping Assignment technique for the stabilization of underactuated mechanical systems is dissipation in unactuated coordinates, since it may impede the definiteness requirements for the closed-loop system. Recently, the expansion of the closed-loop Hamiltonian function by a cross term between coordinates and momenta has been ex...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2014
ISSN: 1474-6670
DOI: 10.3182/20140824-6-za-1003.00499