Paper Info
Title
Ida-Pbc For Underactuated Mechanical Systems In Implicit Port-Hamiltonian Representation
Abstract
Partial differential equations (PDEs) persist to be a stumbling block in Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC). Lately, for a class of mechanical systems an energy shaping controller has been investigated that avoids PDEs by exploiting implicit port-Hamiltonian representations. Following the same research line, in this paper we generalize the total energy shaping IDA-PBC for underactuated mechanical systems in the implicit framework and propose an algebraic solution for a class of systems. Besides, under some additional conditions we are also able to produce a respective output feedback. A reduction of the closed loop system in explicit coordinates is presented. We test our results on the inclined cart-pole system and portal crane.
Year
DOI
Venue
2019
10.23919/ECC.2019.8795994
2019 18TH EUROPEAN CONTROL CONFERENCE (ECC)
Field
DocType
Citations 
Passivity,Algebraic solution,Control theory,Underactuated mechanical systems,Hamiltonian (quantum mechanics),Control theory,Computer science,Interconnection,Partial differential equation,Mechanical system
Conference
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Oscar B. Cieza100.34
Johann Reger24017.29