Solution of matching equations of IDA-PBC by Pfaffian differential equations
From MaRDI portal
(Redirected from Publication:5056576)
Abstract: Finding the general solution of partial differential equations (PDEs) is essential for controller design in newly developed methods. Interconnection and damping assignment passivity based control (IDA-PBC) is one of such methods in which the solution to corresponding PDEs which are called matching equations, is needed to apply it in practice. In this paper, these matching equations are transformed to corresponding Pfaffian differential equations. Furthermore, it is shown that upon satisfaction of the integrability condition, the solution to the corresponding third-order Pfaffian differential equation may be obtained quite easily. The method is applied to the PDEs of IDA-PBC in some benchmark systems such as Magnetic levitation system, Pendubot, and underactuated cable driven robot to verify its applicability.
Recommendations
- On the matching equations of kinetic energy shaping in IDA-PBC
- The matching conditions of controlled Lagrangians and IDA-passivity based control
- Matching in the method of controlled Lagrangians and IDA-passivity based control
- A simplified IDA-PBC design for underactuated mechanical systems with applications
- On the \lambda-Equations for Matching Control Laws
Cites work
- Barrier Lyapunov functions for the control of output-constrained nonlinear systems
- Constructive Interconnection and Damping Assignment for Port-Controlled Hamiltonian Systems
- Control of a class of underactuated mechanical systems obviating matching conditions
- Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
- Dynamic load carrying capacity of flexible cable suspended robot: Robust feedback linearization control approach
- Energy Shaping of Mechanical Systems via PID Control and Extension to Constant Speed Tracking
- Global stabilisation of underactuated mechanical systems via PID passivity-based control
- scientific article; zbMATH DE number 5174521 (Why is no real title available?)
- IDA-PBC with adaptive friction compensation for underactuated mechanical systems
- Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
- Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
- Interconnection and damping assignment passivity-based control: a survey
- Joint position regulation of a class of underactuated mechanical systems affected by LuGre dynamic friction via the IDA-PBC method
- Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments
- Shaping the Energy of Mechanical Systems Without Solving Partial Differential Equations
- Simultaneous interconnection and damping assignment passivity-based control: the induction machine case study
- Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
Cited in
(4)- On the \lambda-Equations for Matching Control Laws
- Stabilization of a class of underactuated parallel robots via energy shaping: application to cable driven manipulators
- Integral controlled Lagrangians for underactuated mechanical systems subject to matched and unmatched disturbances
- Adaptive total energy shaping of a class of manipulators
This page was built for publication: Solution of matching equations of IDA-PBC by Pfaffian differential equations
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5056576)
