This article investigates the control problem for underactuated port‐controlled Hamiltonian
systems with multiple linearly parameterized additive disturbances including matched …

Interconnection and dam** assignment is a controller design methodology that regulates
the behaviour of dynamical systems assigning a desired port-Hamiltonian structure to the …

In this work the control of underactuated mechanical systems with dry friction on actuated
and unactuated joints is investigated. A new interconnection-and-dam**-assignment …

This work investigates the control of nonlinear underactuated mechanical systems with
matched and unmatched constant disturbances. To this end, a new control strategy is …

Interconnection and dam** assignment passivity-based control (IDA-PBC) is an excellent
method to stabilize mechanical systems in the Hamiltonian formalism. In this paper, several …

A matrix control algorithm based on controlled Lagrangian method is presented in this paper
to stabilize a class of mechanical systems with underactuation degree one. Firstly, a desired …

We generalize and strengthen the method of Interconnection and Dam** Assignment
Passivity-Based Control (IDA-PBC) for the stabilization of mechanical systems. First, we …

This letter investigates the dynamic extension of the Controlled Lagrangians methodology
for underactuated mechanical systems subject to matched disturbances that depend on the …

We propose a general framework for the exponentially stable tracking controller design for
passive port-controlled Hamiltonian systems with a single input and a single output. We use …

In this paper, an adaptive technology and the interconnection and dam** assignment
passivity-based control method are combined to solve the stabilization problem for …