A Robust IDA-PBC Approach for Handling Uncertainties in Underactuated Mechanical Systems (vol 63, pg 3495, 2018)

被引：4

作者：

Donaire, Alejandro ^{[1
]}

Romero, Jose Guadalupe ^{[2
]}

Ortega, Romeo ^{[3
,4
]}

机构：

[1] Univ Newcastle, Sch Engn, Callaghan, NSW 2308, Australia

[2] ITAM, Dept Acad Sistemas Digit, Mexico City 01080, DF, Mexico

[3] CNRS, SUPELEC, Lab Signaux & Syst, F-91192 Gif Sur Yvette, France

[4] ITMO Univ, Dept Control Syst & Robot, St Petersburg 197101, Russia

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2020年 / 65卷 / 07期

关键词：

Mechanical systems; Asymptotic stability; Two dimensional displays; Potential energy; Closed loop systems; Wheels; Uncertainty; Passivity-based control; underactuated mechanical systems; robust IDA-PBC;

D O I：

10.1109/TAC.2019.2949876

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this note, it is shown that the results claimed in the paper [1]-as well as the examples presented there-are incorrect.

引用

页码：3223 / 3226

页数：4

共 3 条

[1] Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances [J].

Donaire, Alejandro ;

Guadalupe Romero, Jose ;

Ortega, Romeo ;

Siciliano, Bruno ;

Crespo, Martin .

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2017, 27 (06) :1000-1016

[2] Stabilization of a class of undercactuated mechanical systems via interconnection and damping assignment [J].

Ortega, R ;

Spong, MW ;

Gómez-Estern, F ;

Blankenstein, G .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2002, 47 (08) :1218-1233

[3] A Robust IDA-PBC Approach for Handling Uncertainties in Underactuated Mechanical Systems [J].

Ryalat, Mutaz ;

Laila, Dina Shona .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2018, 63 (10) :3495-3502

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