Regulation of mechanisms with friction driven by brushed DC motors via IDA-PBC method

In this paper, we apply the interconnection and damping assignment passivity-based control methodology to control a class of mechanisms with friction by means of brushed Direct Current (DC) motors of permanent magnet. The application considers the dynamics of the motor in the control system design. Our main contribution is a control law in terms of voltage applied to each one of DC motors to stabilize the mechanism in a desired position. The class of mechanisms to control includes either fully actuated mechanical systems as underactuated mechanical systems. The performance of the proposed controller is illustrated via simulations through an underactuated mechanism, the ball and beam system.