Stabilization of a class of underactuated Euler Lagrange system using an approximate model

The energy shaping method, Controlled Lagrangian, is a well-known approach to stabilize the underactuated Euler Lagrange (EL) systems. In this approach, to construct a control rule, some nonlinear and nonhomogeneous partial differential equations (PDEs), which are called matching conditions, must be...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	Transactions of the Institute of Measurement and Control 2022-05, Vol.44 (8), p.1569-1578
Hauptverfasser:	Yıldız, Hüseyin Alpaslan, Gören-Sümer, Leyla
Format:	Artikel
Sprache:	eng
Schlagworte:	Feedback control Inertia Kinetic energy Matching Mathematical analysis Nonlinear control Partial differential equations Potential energy Stability analysis
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!