Total energy-shaping control for mechanical systems via Control-by-Interconnection
Application of IDA-PBC to mechanical systems has received much attention in recent decades, but its application is still limited by the solvability of the so-called matching conditions. In this work, it is shown that total energy-shaping control of under-actuated mechanical systems has a control-by-interconnection interpretation. Using this interpretation, alternate matching conditions are formulated that defines constraints on the added energy, rather then the total closed-loop energy. It is additionally shown that, for systems that are under-actuated degree one with the mass matrix depending on a single coordinate, the kinetic energy matching conditions resolve to ODEs which can be evaluated numerically. Using this approach controllers are proposed for the benchmark cart-pole and acrobot systems.
Code (1)
Tasks
AcrobotSimilar Papers 제목 키워드 기반
Reformulation of Matching Equation in Potential Energy Shaping
Stabilization of an underactuated mechanical system may be accomplished by energy shaping. Interconnection and damping assignment passivity-based control is an approach based on total energy shaping by assigning desired …
On the Matching Equations of Kinetic Energy Shaping in IDA-PBC
Interconnection and damping assignment passivity-based control scheme has been used to stabilize many physical systems such as underactuated mechanical systems through total energy shaping. In this method, some partial d…
Total Energy Shaping with Neural Interconnection and Damping Assignment -- Passivity Based Control
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 …
Stabilization of physical systems via saturated controllers with only partial state measurements
This paper provides a constructive passivity-based control approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering saturation in the inputs. As customarily in pa…
Bounded Inputs Total Energy Shaping for Mechanical Systems
Designing control systems with bounded input is a practical consideration since realizable physical systems are limited by the saturation of actuators. The actuators' saturation degrades the performance of the control sy…