no code implementations • 24 Dec 2021 • Santiago Sanchez-Escalonilla, Rodolfo Reyes-Baez, Bayu Jayawardhana
In this work we exploit the universal approximation property of Neural Networks (NNs) to design interconnection and damping assignment (IDA) passivity-based control (PBC) schemes for fully-actuated mechanical systems in the port-Hamiltonian (pH) framework.