Hamiltonian system

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

Davide Barilari, Ugo Boscain

Citations: 290 • 2020

Approximating the Stance Map of a 2-DOF Monoped Runner

W. J. Schwind, D. E. Koditschek

Citations: 130 • 2000

Geometric scattering in robotic telemanipulation

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

Citations: 130 • 2002

Symmetric Walking Control: Invariance and Global Stability

Sang-Ho Hyon, T. Emura

Citations: 64 • 2005

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

Kenji Fujimoto, Toshiharu Sugie

Citations: 64 • 2003

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

Rigid Body Mechanics: Mathematics, Physics and Applications

William B. Heard

Citations: 37 • 2005

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

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

Approximating the Stance Map of a 2-DOF Monoped Runner

W. J. Schwind, D. E. Koditschek

Citations: 30 • 2000

Robust adaptive control for robotic systems with input time-varying delay using Hamiltonian method

Yong Ren, Weiwei Sun

Citations: 28 • 2016

Optimal Motion Synthesis – Dynamic Modelling and Numerical Solving Aspects

Guy Bessonnet, P. Sardain, Stéphane Chessé

Citations: 25 • 2002

Solution of Ill-Conditioned linear Two-Point Boundary Value Problems by the Riccati Transformation

I. H. Mufti, C. K. Chow, F. T. Stock

Citations: 24 • 1969

On avoiding singularities in redundant robot kinematics

Krzysztof Tchoń, Aleksander Matuszok

Citations: 23 • 1995

Dynamics and Control of Hybrid Mechanical Systems

Г. А. Леонов, Henk Nijmeijer, A. Pogromsky, Аlexander L. Fradkov

Citations: 23 • 2010

Tracking Control of Fully-actuated port-Hamiltonian Mechanical Systems via Sliding Manifolds and Contraction Analysis

Rodolfo Reyes‐Báez, Arjan van der Schaft, Bayu Jayawardhana

Citations: 23 • 2017