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Design, Implementation and Experiments of a Robust Passivity-based Controller for a Rolling-balancing System.

, , , , and . ICINCO (2), page 79-89. SciTePress, (2016)

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Intrinsic dynamics and total energy-shaping control of the ballbot system., , and . Int. J. Control, 90 (12): 2734-2747 (2017)Passivity-Based Control Design and Experiments for a Rolling-Balancing System., , , , and . ICINCO (Selected Papers), volume 430 of Lecture Notes in Electrical Engineering, page 230-255. Springer, (2016)Energy Shaping of Mechanical Systems via PID Control and Extension to Constant Speed Tracking., , and . IEEE Trans. Automat. Contr., 61 (11): 3551-3556 (2016)Energy shaping, interconnection and damping assignment, and integral control in the bond graph domain., and . Simul. Model. Pract. Theory, 17 (1): 152-174 (2009)Robustifying energy shaping control of mechanical systems., , and . CDC, page 4424-4429. IEEE, (2012)Integral control of port-Hamiltonian systems: non-passive outputs without coordinate transformation., , and . CoRR, (2017)Control of Nonprehensile Planar Rolling Manipulation: A Passivity-Based Approach., , , , , and . IEEE Trans. Robotics, 35 (2): 317-329 (2019)A low-complexity flight controller for Unmanned Aircraft Systems with constrained control allocation., , and . AuCC, page 284-289. IEEE, (2011)Smooth stabilisation of nonholonomic robots subject to disturbances., , , and . ICRA, page 4385-4390. IEEE, (2015)On the tuning of nested-structure dynamic-positioning control of a marine craft., , and . ASCC, page 2663-2668. IEEE, (2017)