Contributions to ida-pbc with adaptive control for underactuated mechanical systems
This master thesis is devoted to developing an adaptive control scheme for the well- known Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) technique. The main objective of this adaptive scheme is to asymptotically stabilize a class of Underactuated Mechanical Systems...
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| Format: | Dissertation |
| Language: | English |
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Pontificia Universidad Católica del Perú
2018
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| Online Access: | http://hdl.handle.net/20.500.12404/12894 |