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

DOI10.1016/J.SYSCONLE.2016.05.006MaRDI QIDQ313305zbMATHOpenAlexFDO

Authors Alejandro Donaire, Romeo Ortega, Jose Guadalupe Romero

Publication date 9 September 2016

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

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

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)

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.

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Cited in

(24)

• Passivity-based control design and experiments for a rolling-balancing system
• On the matching equations of kinetic energy shaping in IDA-PBC
• Simultaneous interconnection and damping assignment passivity-based control: the induction machine case study
• Local linear dynamics assignment in IDA-PBC
• Passivity-based control of mechanical systems
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• Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples
• Stabilisation of a relative equilibrium of an underactuated AUV on \(\mathbf{SE}(3)\)
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