Browsing Ingeniería de Control y Automatización by Author "Popayán Avila, Jhossep Augusto"
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Contributions to ida-pbc with adaptive control for underactuated mechanical systems
Popayán Avila, Jhossep Augusto (Pontificia Universidad Católica del PerúPE, 2018-10-17)This master thesis is devoted to developing an adaptive control scheme for the well- known Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) technique. The main objective of this adaptive scheme ...