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Extending interconnection and damping assignment passivity-based control (IDA-PBC) to underactuated mechanical systems with nonholonomic Pfaffian constraints: The mobile inverted pendulum robot

Vijay Muralidharan, Maruthi T. Ravichandran, Arun D. Mahindrakar. Extending interconnection and damping assignment passivity-based control (IDA-PBC) to underactuated mechanical systems with nonholonomic Pfaffian constraints: The mobile inverted pendulum robot. In Proceedings of the 48th IEEE Conference on Decision and Control, CDC 2009, combined withe the 28th Chinese Control Conference, December 16-18, 2009, Shanghai, China. pages 6305-6310, IEEE, 2009. [doi]

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Vijay Muralidharan

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Maruthi T. Ravichandran

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Arun D. Mahindrakar

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