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   Articles with "lagrangian systems" as a keyword



Flatness based ADRC Control of Lagrangian Systems: A moving crane.

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recommendations! Published in 2020 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2020.12.1870

Abstract: Abstract A procedure is described for direct tangent linearization, around a given equilibrium point, of non-linear multivariable Lagrangian systems, in terms of second order variational expansions of the Lagrangian function. When the linearized model is… read more here.

Keywords: control; lagrangian systems; flatness based; based adrc ... See more keywords
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Small oscillations of non-dissipative Lagrangian systems

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recommendations! Published in 2019 at "Journal of Mathematical Physics"

DOI: 10.1063/1.5049438

Abstract: The small oscillations of an arbitrary scleronomous system subject to time-independent non dissipative forces are discussed. The linearized equations of motion are solved by quadratures. As in the conservative case, the general integral is shown… read more here.

Keywords: non dissipative; dissipative lagrangian; oscillations non; small oscillations ... See more keywords

Resilient Distributed Cooperative Backstepping Control of Euler–Lagrangian Systems Under Malicious Link Attacks

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recommendations! Published in 2025 at "IEEE Internet of Things Journal"

DOI: 10.1109/jiot.2025.3577261

Abstract: The resilient cooperative control issue for uncertain multi-Euler–Lagrangian (EL) systems under a locally finite number of adversaries that may arbitrarily manipulate communication links is investigated in this article. We propose a resilient distributed backstepping control… read more here.

Keywords: control; resilient distributed; lagrangian systems; backstepping control ... See more keywords

Provably Robust Learning-Based Approach for High-Accuracy Tracking Control of Lagrangian Systems

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recommendations! Published in 2019 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2019.2896728

Abstract: Lagrangian systems represent a wide range of robotic systems, including manipulators, wheeled and legged robots, and quadrotors. Inverse dynamics control and feedforward linearization are typically used to convert the complex nonlinear dynamics of Lagrangian systems… read more here.

Keywords: system; high accuracy; control; lagrangian systems ... See more keywords

Adaptive Coordination of Networked Lagrangian Systems With Nonsmooth Actuator Nonlinearities

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recommendations! Published in 2025 at "IEEE Transactions on Automatic Control"

DOI: 10.1109/tac.2024.3471860

Abstract: In this article, we present a solution to the adaptive coordination control problem for networked Lagrange systems with unknown nonsmooth actuator nonlinearities, which can represent actuator failure/attack, deadzone, backlash, friction, and hysteresis in a unified… read more here.

Keywords: lagrangian systems; actuator; actuator nonlinearities; networked lagrangian ... See more keywords

Approximation-Free Tracking Error Constraint Control for Lagrangian Systems

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recommendations! Published in 2017 at "IEEE Transactions on Industrial Electronics"

DOI: 10.1109/tie.2016.2613990

Abstract: This paper proposes an approximation-free adaptive tracking error constraint control scheme for unknown Lagrangian systems. A transformed filtered tracking error surface has been constructed to guarantee the transient and steady-state performance of the position control… read more here.

Keywords: tracking error; control; lagrangian systems; constraint control ... See more keywords

Jamming-Resilient Synchronization of Networked Lagrangian Systems With Quantized Sampling Data

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recommendations! Published in 2022 at "IEEE Transactions on Industrial Informatics"

DOI: 10.1109/tii.2022.3148395

Abstract: A wide range of cyber–physical systems can be modeled as Euler–Lagrange dynamics, whose inherent nonlinearities bring additional difficulties in the design and analysis of controllers for such systems. The objective of this article is to… read more here.

Keywords: networked lagrangian; sampling data; lagrangian systems; resilient synchronization ... See more keywords