Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces

DOI10.1016/J.SYSCONLE.2016.05.006zbMATH Open1344.93048arXiv1506.07679OpenAlexW2571295508MaRDI QIDQ313305FDOQ313305

Authors: Alejandro Donaire, Romeo Ortega, Jose Guadalupe Romero 

Publication date: 9 September 2016

Published in: Systems \& Control Letters (Search for Journal in Brave)

Abstract: To extend the realm of application of the well known controller design technique of interconnection and damping assignment passivity-based control (IDA-PBC) of mechanical systems two modifications to the standard method are presented in this article. First, similarly to [1], it is proposed to avoid the splitting of the control action into energy-shaping and damping injection terms, but instead to carry them out simultaneously. Second, motivated by [2], we propose to consider the inclusion of generalised forces, going beyond the gyroscopic ones used in standard IDA-PBC. It is shown that several new controllers for mechanical systems designed invoking other (less systematic procedures) that do not satisfy the conditions of standard IDA-PBC, actually belong to this new class of SIDA-PBC.

Full work available at URL: https://arxiv.org/abs/1506.07679

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zbMATH Keywords

mechanical systemspassivity-based controlstability of nonlinear systems

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Design techniques (robust design, computer-aided design, etc.) (93B51) Nonlinear systems in control theory (93C10)

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Cited In (18)

• Stabilisation of a relative equilibrium of an underactuated AUV on SE(3)
• Passivity-Based Control Design and Experiments for a Rolling-Balancing System
• Title not available (Why is that?)
• On the matching equations of kinetic energy shaping in IDA-PBC
• Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example
• Bounded inputs total energy shaping for a class of underactuated mechanical systems
• A segmented model based fuel delivery control of PEM fuel cells: a port-Hamiltonian approach
• Energy shaping control of underactuated mechanical systems with fluidic actuation
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Simultaneous interconnection and damping assignment passivity-based control: the induction machine case study
• IDA-PBC with adaptive friction compensation for underactuated mechanical systems
• Robust passive tracking control for an uncertain soft actuator using robust right coprime factorization
• Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances
• Interconnection and Damping Assignment Passivity-Based Control of a Four-Tank System
• Passivity-based switching control of flexible-joint complementarity mechanical systems
• Damping Control in Systems Assembled by Semi-Active Joints
• Global stabilisation of underactuated mechanical systems via PID passivity-based control
• Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples

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