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Region-reaching control for multiple underactuated Euler-Lagrange systems based on energy-shaping framework

delete2025-06-11
delete0
PRE
AI
B
Bin Zheng
J
Jinchen Ji
R
Runlong Peng
苗
苗中华 (Zhonghua Miao)
J
Jin Zhou
DOI：10.1016/j.cnsns.2025.109020delete
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Abstract

Abstract

En 中文
• Introducing the adaptive gain technique incorporating the region potential function. • The distributed region-reaching control scheme by the best use of the PBC framework with damping injection. • Combining the underactuated and actuated portions of MUELSs and the controller dynamics with adaptive update law. • A unified analysis framework of energy shaping for MUELSs is firstly established.

Journal

Communications in Nonlinear Science and Numerical Simulation cover
Communications in Nonlinear Science and Numerical Simulation
IF:
3.8
Papers:
9.2K
Citations:
1.8W

Organization

No organization information available