An Adaptive Controller Based on Interconnection and Damping Assignment Passivity-Based Control for Underactuated Mechanical Systems: Application to the Ball and Beam System

In this paper, an adaptive technology and the interconnection and damping assignment passivity-based control method are combined to solve the stabilization problem for underactuated mechanical systems with uncertainties (including matched and unmatched). These uncertainties include unknown friction...

Ausführliche Beschreibung

Bibliografische Detailangaben

Hauptverfasser:	Xiaoping Liu, Huaizhi Shao, Cungen Liu, Ning Li, Xinpeng Guo, Fei Zheng, Lijun Sun
Format:	Artigo
Sprache:	Inglês
Veröffentlicht:	MDPI AG 2023-10-01
Schriftenreihe:	Actuators
Schlagworte:	underactuated mechanical systems adaptive control IDA-PBC the ball and beam system
Online-Zugang:	https://www.mdpi.com/2076-0825/12/11/408
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