@inproceedings{342db0c502b546b593e46858cbb3b4ac,
title = "Interconnection and Damping Assignment Passivity-Based Control for Port-Hamiltonian mechanical systems with only position measurements",
abstract = "A dynamic extension for position feedback of port-Hamiltonian mechanical systems is studied. First we look at the consequences for the matching equations when applying Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC). Then we look at the possibilities of asymptotically stabilizing a class of port-Hamiltonian mechanical systems without having to know the velocities, as once presented for Euler-Lagrange (EL) systems. Here it is shown how the idea of damping injection by dynamic extension works when shaping the total energy in the port-Hamiltonian framework.",
keywords = "Meats, Power control, Position measurement, Passivation, Mechatronics, Hamiltonians, Total energies, Damping, Position feedbacks, Passivity-based controls, Mechanical systems, Lagrange, Interconnection and damping assignments, Dynamic extensions, Damping injections",
author = "Dirksz, \{D. A.\} and Scherpen, \{J. M. A.\} and R. Ortega",
note = "Relation: http://www.rug.nl/fwn/itm Rights: University of Groningen; 47th IEEE Conference on Decision and Control ; Conference date: 09-12-2008 Through 11-12-2008",
year = "2008",
language = "English",
isbn = "978-1-4244-3124-3",
series = "IEEE Conference on Decision and Control",
publisher = "s.n.",
pages = "4957--4962",
booktitle = "47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008)",
}