A Robust IDA-PBC Approach for Handling Uncertainties in Underactuated Mechanical Systems
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DOI: 10.1109/tac.2018.2797191
Abstract: Interconnection and damping assignment passivity-based control (IDA-PBC) is a method that has been developed to (asymptotically) stabilize nonlinear systems formulated in the port-controlled Hamiltonian (PCH) structure. This method has gained increasing popularity and has been… read more here.
Keywords: underactuated mechanical; mechanical systems; pbc approach; robust ida ... See more keywords