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Control of Mechanical Systems with Dry Friction
(Revista Computación y Sistemas; Vol. 16 No. 1, 2012-03-15)
Abstract. A technique to design a dynamic continuous
controller to regulate a class of full-actuated mechanical
systems with dry friction is proposed. It is shown that
the control eliminates the steady-state error and ...
Angular Position Control of Furuta Pendulum with an Intelligent Sliding Modes Approach
(Universidade Federal do Rio Grande do NorteBrasilUFRNEngenharia Mecânica, 2019-11-29)
Modelling an Inertia Wheel Pendulum Benchmark
(Taylor & Francis, 2005-09)
In this paper, modelling and parameter identification of an inertia wheel pendulum benchmark is considered. This is an underactuated mechanical system useful for teaching and research. Attention is focused on deriving a ...
Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances
(John Wiley & Sons Ltd, 2017-04)
The problem of robustification of interconnection and damping assignment passivity-based control for underactuated mechanical system vis-à-vis matched, constant, and unknown disturbances is addressed in the paper. This is ...
Contributions to ida-pbc with adaptive control for underactuated mechanical systems
(Pontificia Universidad Católica del PerúPE, 2018)