Passivity-based-control for a class of underactuated mechanical systems

The nonlinear dynamk model of the underactuated mechanical systems is buillt with Lagrangian method. Several properties of the system model such as the positive definite symmetric inertia matrix and the passivity are analyzed. A passivity-based control method is proposed for the underactuated mechanical system. The unlderactuated doublependulum- type overhead crane system is used to validate the proposed control algorithm. Simulation rlesults illustrate the complex system dynamics of the double-pendlulum-type overhead crane and the validity of proposed control algorithm.