Interconnection and Damping Assignment Passivity–Based Control of an Underactuated 2–DOF Gyroscope

Interconnection and Damping Assignment Passivity–Based Control of an Underactuated 2–DOF Gyroscope

In this paper we present interconnection and damping assignment passivity-based control (IDA-PBC) applied to a 2 degrees of freedom (DOFs) underactuated gyroscope. First, the equations of motion of the complete system (3-DOF) are presented in both Lagrangian and Hamiltonian formalisms. Moreover, the...

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Bibliographic Details
Main Authors: Cordero Gustavo, Santibáñez Víctor, Dzul Alejandro, Sandoval Jesús
Format: Article
Language:English
Published: Sciendo 2018-12-01
Series:International Journal of Applied Mathematics and Computer Science
Subjects:
gyroscope device
gyroscopic forces
cyclic coordinates
generalized momenta
routh’s equations
ida-pbc
Online Access:https://doi.org/10.2478/amcs-2018-0051

Internet

https://doi.org/10.2478/amcs-2018-0051

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