A simplified IDA-PBC design for underactuated mechanical systems with applications
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 th...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
2016-01.
|
| Subjects: | |
| Online Access: | Get fulltext Get fulltext |