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math.OC2016★ 1 cited
Asymptotic Stabilizability of Underactuated Hamiltonian Systems With Two Degrees of Freedom
Sergio Grillo, Leandro Salomone, Marcela Zuccalli
For an underactuated (simple) Hamiltonian system with two degrees of freedom and one degree of underactuation, a rather general condition that ensures its stabilizability, by means…
math.OC2016★ 1 cited
On the relationship between the energy shaping and the Lyapunov constraint based methods
Sergio Grillo, Leandro Salomone, Marcela Zuccalli
In this paper, we make a review of the controlled Hamiltonians (CH) method and its related matching conditions, focusing on an improved version recently developed by D.E. Chang. Al…