Regulation control of underactuated mechanical systems based on a new matching equation of port-controlled hamiltonian systems

Author

Wang, Zheng ; Goldsmith, Peter ; Gu, Jason

Author_Institution

Dept. of Electr. & Comput. Eng., Dalhousie Univ., Halifax, NS, Canada

fYear

2009

fDate

12-17 May 2009

Firstpage

992

Lastpage

997

Abstract

We consider the control of Port-Controlled Hamiltonian (PCH) systems, which are a generalization of Euler-Lagrange Systems. A new matching equation for PCH systems is developed so that interconnection damping assignment passivity-based control (IDA-PBC) can be extended to the regulation of some underactuated PCH systems whosekinetic energy must be modified. A simple underactuated mechanical system (the inertial wheel pendulum) is used to demonstrate the effectiveness of the proposed method.

Keywords

damping; interconnected systems; nonlinear control systems; robust control; Euler-Lagrange system generalization; interconnection damping assignment passivity-based control; kinetic energy; matching equation; nonlinear system; port controlled Hamiltonian system; regulation control; robust control; underactuated mechanical system; Automatic control; Control systems; DC motors; Damping; Equations; Kinetic energy; Mechanical systems; Mobile robots; Potential energy; Power system interconnection;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Conference_Location

Kobe

ISSN

1050-4729

Print_ISBN

978-1-4244-2788-8

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2009.5152627

Filename

5152627