https://ogma.newcastle.edu.au/vital/access/ /manager/Index ${session.getAttribute("locale")} 5 Robustifying energy shaping control of mechanical systems https://ogma.newcastle.edu.au/vital/access/ /manager/Repository/uon:21057 Wed 30 Sep 2015 14:41:01 AEST ]]> Correction to the paper "a robust IDA-PBC approach for handling nncertainties in underactuated mechanical systems" https://ogma.newcastle.edu.au/vital/access/ /manager/Repository/uon:47167 Wed 14 Dec 2022 15:48:59 AEDT ]]> Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances https://ogma.newcastle.edu.au/vital/access/ /manager/Repository/uon:33204 Wed 12 Sep 2018 15:47:13 AEST ]]> Smooth stabilisation of nonholonomic robots subject to disturbances https://ogma.newcastle.edu.au/vital/access/ /manager/Repository/uon:26510 Wed 11 Apr 2018 13:30:36 AEST ]]> Robust integral action of port-Hamiltonian systems https://ogma.newcastle.edu.au/vital/access/ /manager/Repository/uon:38823 Tue 15 Feb 2022 14:32:22 AEDT ]]> On Matched Disturbance Suppression for Port-Hamiltonian Systems https://ogma.newcastle.edu.au/vital/access/ /manager/Repository/uon:40424 Tue 12 Jul 2022 08:56:38 AEST ]]> Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems https://ogma.newcastle.edu.au/vital/access/ /manager/Repository/uon:32107 Tue 01 May 2018 16:05:55 AEST ]]> Robust energy shaping control of mechanical systems https://ogma.newcastle.edu.au/vital/access/ /manager/Repository/uon:17314 Sat 24 Mar 2018 08:01:51 AEDT ]]> Simplifying robust energy shaping controllers for mechanical systems via coordinate changes https://ogma.newcastle.edu.au/vital/access/ /manager/Repository/uon:21721 vis à vis external disturbances, of energy shaping controllers for mechanical systems was addressed by the authors in a previous paper. It was shown that—if the inertia matrix is constant—constant disturbances (both, matched and unmatched) can be rejected simply adding a suitable integral action. For systems with non–constant inertia matrix and non–constant disturbances the controller, that adds nonlinear damping and gyroscopic forces terms, is quite complicated. The purpose of this paper is to show that, including a partial change of coordinates, the controller can be significantly simplified, achieving the same robustness property of input–to–state stability with respect to matched disturbances of the previous controller.]]> Sat 24 Mar 2018 07:52:44 AEDT ]]> Energy shaping of mechanical systems via PID control and extension to constant speed tracking https://ogma.newcastle.edu.au/vital/access/ /manager/Repository/uon:25324 Sat 24 Mar 2018 07:30:18 AEDT ]]> Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances https://ogma.newcastle.edu.au/vital/access/ /manager/Repository/uon:25353 Sat 24 Mar 2018 07:24:41 AEDT ]]> Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces https://ogma.newcastle.edu.au/vital/access/ /manager/Repository/uon:25352 Sat 24 Mar 2018 07:24:41 AEDT ]]> Shaping the energy of mechanical systems without solving partial differential equations https://ogma.newcastle.edu.au/vital/access/ /manager/Repository/uon:24823 Sat 24 Mar 2018 07:15:12 AEDT ]]> Matched Disturbance Rejection for a Class of Nonlinear Systems https://ogma.newcastle.edu.au/vital/access/ /manager/Repository/uon:40739 Mon 18 Jul 2022 13:12:17 AEST ]]> Passivity-based control of mechanical systems https://ogma.newcastle.edu.au/vital/access/ /manager/Repository/uon:34699 Fri 12 Apr 2019 15:45:05 AEST ]]>