In this note, we propose a method for describing the dynamics of mechanical systems with
velocity-based inputs within the port-Hamiltonian framework. Canonical representations of …

This paper examines the dynamic properties of a hybrid momentum observer for mechanical
systems, extending the previously-reported results. The observer estimates the momentum …

Damping injection is a well-studied tool in nonlinear control theory to stabilize and shape the
transient of mechanical systems. Interestingly, the injection of coupled damping yielding …

This work investigates the passivity-based control of a class of underactuated mechanical
systems for which the momenta are not measurable. To this end, a port-Hamiltonian …

In this note, we extend a recent hybrid passive momentum observer for mechanical system
to nonholonomic systems. The momentum observer assumes that configuration …

This paper proves a stability property of mechanical port-Hamiltonian systems with kinetic
potential energy shaping (KPES) with respect to external disturbances using the input-to …

This paper proposes a passivity-based second-order sliding mode observer for mechanical
port-Hamiltonian (pH) systems. Observer design can be broadly classified into two …