Constructive immersion and invariance stabilization for a class of underactuated mechanical systems

Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment

Roméo Ortega, Mark W. Spong, Fabio Gómez-Estern et al. · IEEE Transactions on Automatic Control · 2002 · 832 citations

Natural Sciences, Mathematics, Mechanical Engineering +17

Immersion and invariance: a new tool for stabilization and adaptive control of nonlinear systems

Alessandro Astolfi, Roméo Ortega · IEEE Transactions on Automatic Control · 2003 · 775 citations

Engineering, Mathematics, Systems Engineering +17

Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem

Anthony M. Bloch, Naomi Ehrich Leonard, Jerrold E. Marsden · IEEE Transactions on Automatic Control · 2000 · 505 citations

Engineering, Mathematics, Mechanical Engineering +17

Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one

José Ángel Acosta, Roméo Ortega, Alessandro Astolfi et al. · IEEE Transactions on Automatic Control · 2005 · 322 citations

Engineering, Mathematics, Mechanical Engineering +17

The matching conditions of controlled Lagrangians and IDA-passivity based control

G. Blankenstein, Roméo Ortega, Arjan van der Schaft · International Journal of Control · 2002 · 193 citations · Full text

Engineering, Mechanical Engineering, Applied Mechanics +16