Hamiltonian (control theory)

A comprehensive introduction to sub-Riemannian geometry from the Hamiltonian viewpoint

Davide Barilari, Ugo Boscain

Citations: 290 • 2020

Theory of Chattering Control: with applications to Astronautics, Robotics, Economics, and Engineering

V. F. Borisov, M. I. Zelikin

Citations: 166 • 1994

Geometric scattering in robotic telemanipulation

Stefano Stramigioli, Arjan van der Schaft, Bernhard Maschke, Claudio Melchiorri

Citations: 130 • 2002

Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach

Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

Citations: 102 • 2007

Controllability of spacecraft systems in a central gravitational field

Kuang‐Yow Lian, Li‐Sheng Wang, Li‐Chen Fu

Citations: 75 • 1994

Iterative learning control of hamiltonian systems: I/O based optimal control approach

Kenji Fujimoto, Toshiharu Sugie

Citations: 64 • 2003

Symmetric Walking Control: Invariance and Global Stability

Sang-Ho Hyon, T. Emura

Citations: 64 • 2005

Remarks on robot dynamics: canonical transformations and Riemannian geometry

Mark W. Spong

Citations: 59 • 2003

A proof of the structure of the minimum-time control law of robotic manipulators using a Hamiltonian formulation

Yaobin Chen, A.A. Desrochers

Citations: 59 • 1990

Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example

Arun D. Mahindrakar, Alessandro Astolfi, Roméo Ortega, G. Viola

Citations: 58 • 2006

Lagrangian and Hamiltonian Methods for Nonlinear Control 2006

Citations: 57 • 2007

Control of port Hamiltonian systems by dissipative devices and its application to improve the semi-active suspension behaviour

Riccardo Morselli, Roberto Zanasi

Citations: 50 • 2008

Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach (Springer Tracts in Advanced Robotics)

Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

Citations: 49 • 2007

Asymptotically stable set point control laws for flexible robots

Leonardo Lanari, John T. Wen

Citations: 41 • 1992

Port-Based Modeling of a Flexible Link

Alessandro Macchelli, Claudio Melchiorri, Stefano Stramigioli

Citations: 39 • 2007

Energy Shaping Control of a CyberOctopus Soft Arm

Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih, Arman Tekinalp, Tejaswin Parthasarathy, Ekaterina Gribkova, Girish Chowdhary, Rhanor Gillette, Mattia Gazzola, Prashant G. Mehta

Citations: 36 • 2020

Stabilizability of nonholonomic control systems

Anthony M. Bloch

Citations: 35 • 1992

Infinite dimensional model of a double flexible-link manipulator: The Port-Hamiltonian approach

Andrea Mattioni, Yongxin Wu, Yann Le Gorrec

Citations: 33 • 2020

Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control

Thai Duong, Nikolay Atanasov

Citations: 32 • 2021

Group theoretical approach in using canonical transformations and symplectic geometry in the control of approximately modelled mechanical systems interacting with an unmodelled environment

József K. Tar, Imre J. Rudas, J.F. Bitó

Citations: 30 • 1997