Contributions to ida-pbc with adaptive control for underactuated mechanical systems

Contributions to ida-pbc with adaptive control for underactuated mechanical systems

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This master thesis is devoted to developing an adaptive control scheme for the well- known Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) technique. The main objective of this adaptive scheme is to asymptotically stabilize a class of Underactuated Mechanical Systems...

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Bibliographic Details
Main Author:	Popayán Avila, Jhossep Augusto
Other Authors:	Reger, Johann
Format:	Dissertation
Language:	English
Published:	Pontificia Universidad Católica del Perú 2018
Subjects:	Sistemas de control adaptable
Online Access:	http://tesis.pucp.edu.pe/repositorio/handle/123456789/12894

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