Robust IDA-PBC for under-actuated systems with inertia matrix dependent of the unactuated coordinates: application to a UAV carrying a load
María‐Eusebia Guerrero‐Sánchez, Omar Hernández‐González, Guillermo Valencia‐Palomo, Diego Mercado-Ravell, Francisco‐Ronay López‐Estrada, José A. Hoyo-Montaño
Topics & Concepts
Control theory (sociology)RobustificationSylvester's law of inertiaRobustness (evolution)InertiaLyapunov functionUnderactuationConstant (computer programming)Generalized coordinatesMathematicsComputer scienceSymmetric matrixPhysicsClassical mechanicsRobotMathematical analysisArtificial intelligenceQuantum mechanicsGeneChemistryEigenvalues and eigenvectorsOutlierControl (management)Nonlinear systemBiochemistryProgramming languageControl and Stability of Dynamical SystemsATP Synthase and ATPases ResearchAdaptive Control of Nonlinear Systems