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• W2035258859 abstract "Passivity-based control of under-actuated mechanical systems with nonlinear friction effects in the generalized coordinates of motion is analyzed in this paper. Nonlinear friction is modeled with a modified LuGre dynamic friction model. The internal states of the dynamic friction model are incorporated as generalized coordinates in a port-controlled Hamiltonian formulation for the complete mechanical system in such a way that all passivity properties of this formulation are preserved for the extended generalized coordinates system. Interconnection and damping assignment passivity-based control laws are developed for the models of two case studies: a building with a magneto-rheological damper and a double pendulum. Simulation results are also presented." @default.
• W2035258859 created "2016-06-24" @default.
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• W2035258859 date "2011-09-23" @default.
• W2035258859 modified "2023-10-18" @default.
• W2035258859 title "Passivity based control of under-actuated mechanical systems with nonlinear dynamic friction" @default.
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• W2035258859 doi "https://doi.org/10.1177/1077546311408469" @default.
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