Energy shaping control for a class of underactuated Euler-Lagrange systems

Keyphrases

• Controller 100%
• Under-actuated 100%
• Euler-Lagrange Systems 100%
• Energy-shaping Control 100%
• Stiffness 33%
• Passivity 33%
• Kinetic Energy 33%
• Steady State 33%
• Control Design 33%
• Flexible Joint Robot 33%
• Potential Energy 33%
• Feedback Gain 33%
• Stability Analysis 33%
• Lyapunov-based 33%
• Equilibrium Configuration 33%
• Variable Stiffness 33%
• Variable Impedance 33%
• Passivity Property 33%
• Energy Feedback 33%
• Feedforward Compensation 33%
• Feedback Parameter 33%
• Classical PD Control 33%
• Series Elastic Actuator 33%
• Desired Equilibrium 33%

Engineering

• Energy Engineering 100%
• Lagrange 100%
• Robot 100%
• Passivity 66%
• Experimental Result 33%
• Feedforward 33%
• Potential Energy 33%
• Feedback Gain 33%
• Control Design 33%
• Equilibrium Configuration 33%
• Flexible Joint 33%
• Feedback Variable 33%
• State Variable 33%
• Stability Analysis 33%