Abstract
Stabilization of physical systems by shaping their energy function is a well-established technique whose roots date back to the work of Lagrange and Legendre. Potential energy shaping for fully actuated mechanical systems was first introduced in Takegaki and Arimoto (Trans ASME J Dyn Syst Meas Control 12:119–125, 1981) more than 30 years ago. In Ortega and Spong (Automatica 25(6):877–888, 1989) it was proved that passivity was the key property underlying the stabilization mechanism of these designs, and the, now widely popular, term of passivity-based control was coined. In this chapter we summarize the basic principles and some of the main developments of this controller design technique.
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Ortega, R., Borja, P. (2020). Passivity-Based Control. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_100072-1
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DOI: https://doi.org/10.1007/978-1-4471-5102-9_100072-1
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