Passivity-based tracking controllers for mechanical systems with active disturbance rejection

Keyphrases

• Mechanical Systems 100%
• Closed-loop 100%
• Passivity-based 100%
• Tracking Controller 100%
• Coordinate Change 100%
• Active Disturbance Rejection 100%
• Controller 66%
• External Disturbances 66%
• Stability Analysis 33%
• Change Type 33%
• Control Law 33%
• Robust Property 33%
• Additional Term 33%
• Linear Deformation 33%
• Port-Hamiltonian 33%
• Energy Shaping 33%
• Hamiltonian Function 33%
• Hamiltonian Form 33%
• Elastic Environment 33%
• Strict Lyapunov Function 33%

Engineering

• Closed Loop 100%
• Mechanical Systems 100%
• External Disturbance 66%
• Simplifies 33%
• Main Purpose 33%
• Control Law 33%
• Hamiltonian Form 33%
• Stability Analysis 33%
• Lyapunov Function 33%
• Hamiltonian Function 33%