This article address a novel adaptive error port controlled Hamiltonian scheme for nonlinear
systems with parameters uncertainty and external disturbances. Considering the input …

This paper investigates the control problem for soft continuum manipulators that operate on
a plane and that are subject to unknown disturbances. In general, soft continuum …

This work investigates the energy shaping control of a class of underactuated mechanical
systems with first‐order actuator dynamics and subject to both matched and unmatched …

This work investigates the energy shaping control of a class of underactuated mechanical
systems subject to state‐dependent linearly parameterized matched disturbances. To this …

Interconnection and damping assignment passivity‐based control (IDA‐PBC) provides a
general framework to stabilize underactuated mechanical systems by assigning the desired …

Interconnection and damping assignment passivity-based control scheme has been used to
stabilize many physical systems such as underactuated mechanical systems through total …

In this paper we present a robust trajectory tracking control for a fully actuated marine
surface vehicle. The tracking controller is obtained using a port-Hamiltonian model of the …

This study presents an improved compound control algorithm that substantially enhances
the anti-disturbance performance of a gear-drive gyro-stabilized platform with a floating gear …

This work tackles the time-varying matched external disturbances rejection problem of
robust Interconnection and Damping Assignment-Passivity Based Control methodology. The …

The memristor is added to the port‐Hamiltonian systems to improve the disturbance
suppression performance in this paper. The concepts of locally fixed‐time stability and …