Reformulation of Matching Equation in Potential Energy Shaping
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Publication:6200033
DOI10.1109/TAC.2023.3293719arXiv2112.08742OpenAlexW4383750330MaRDI QIDQ6200033FDOQ6200033
Authors: Hamid D. Taghirad 
Publication date: 29 February 2024
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
Abstract: 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 kinetic and potential energy to the system. This method requires solving a partial differential equation (PDE) related to he potential energy shaping of the system. In this short paper, we focus on the reformulation of this PDE to be solved easier. For this purpose, under a certain condition that depends on the physical parameters and the controller gains, it is possible to merely solve the homogeneous part of potential energy PDE. Furthermore, it is shown that the condition may be reduced into a linear matrix inequality form. The results are applied to a number of benchmark systems.
Full work available at URL: https://arxiv.org/abs/2112.08742
mechanical systemspassivity-based controlenergy shapingpotential energy partial differential equation (PDE)
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