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• W2964173623 abstract "To extend the realm of application of the well known controller design technique of interconnection and damping assignment passivity-based control (IDA-PBC) of mechanical systems two modifications to the standard method are presented in this article. First, similarly to [1], [13], it is proposed to avoid the splitting of the control action into energy-shaping and damping injection terms, but instead to carry them out simultaneously. Second, motivated by [2], we propose to consider the inclusion of dissipative forces, going beyond the gyroscopic ones used in standard IDA-PBC. It can be shown that new controllers for mechanical systems that do not satisfy the conditions of standard IDA-PBC, actually belong to this new class of SIDA-PBC." @default.
• W2964173623 created "2019-07-30" @default.
• W2964173623 creator A5044238060 @default.
• W2964173623 creator A5066662318 @default.
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• W2964173623 date "2016-07-01" @default.
• W2964173623 modified "2023-09-25" @default.
• W2964173623 title "Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces" @default.
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• W2964173623 doi "https://doi.org/10.1109/acc.2016.7526711" @default.
• W2964173623 hasPublicationYear "2016" @default.
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