Explicit solutions of the kinetic and potential matching conditions of the energy shaping method

DOI10.3934/JGM.2021022MaRDI QIDQ2076952zbMATH OpenOpenAlexFDO

Authors Leandro Salomone, M. Zuccalli, Sergio Grillo

Publication date 22 February 2022

Published in Journal of Geometric Mechanics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1810.00620

zbMATH Keywords

closed-loop systemsenergy shapingHamiltonian systemsintegration by quadraturesunderactuated systems

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems governed by partial differential equations (93C20) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Abstract: In this paper we present a procedure to integrate, up to quadratures, the matching conditions of the energy shaping method. We do that in the context of underactuated Hamiltonian systems defined by simple Hamiltonian functions. For such systems, the matching conditions split into two decoupled subsets of equations: the kinetic and potential equations. First, assuming that a solution of the kinetic equation is given, we find integrability and positivity conditions for the potential equation (because positive-definite solutions are the interesting ones), and we find an explicit solution of the latter. Then, in the case of systems with one degree of underactuation, we find in addition a concrete formula for the general solution of the kinetic equation. An example is included to illustrate our results.

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Cited in

(2)

• On the relationship between the \textit{energy shaping} and the \textit{Lyapunov constraint based} methods
• On the matching equations of energy shaping controllers for mechanical systems

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