A nonlinear friction model for the passivity-based control of underactuated mechanical systems

Author

Cornejo, Cecilia ; Alvarez-Icaza, Luis

Author_Institution

Univ. Nacional Autonoma de Mexico, Mexico

fYear

2007

fDate

12-14 Dec. 2007

Firstpage

3859

Lastpage

3864

Abstract

Passivity-based control of underactuated mechanical systems with nonlinear friction effects is analyzed. The port-controlled-Hamiltonian equations of the mechanical system are extended by incorporating a novel dynamic friction model, whose internal states are included as generalized coordinates. The extended Hamiltonian model preserves passivity properties of the LuGre model for the velocity-force pair, with no extra conditions on the friction model parameters. Simulation results are presented for an underactuated double pendulum.

Keywords

friction; nonlinear control systems; LuGre model; dynamic friction model; nonlinear friction model; passivity-based control; port-controlled-Hamiltonian equation; underactuated mechanical system; Control systems; Damping; Design methodology; Energy storage; Friction; Mechanical systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; USA Councils; interconnection and damping assignment; passivity-based control; port-controlled hamiltonian equations; underactuated systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2007 46th IEEE Conference on

Conference_Location

New Orleans, LA

ISSN

0191-2216

Print_ISBN

978-1-4244-1497-0

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2007.4434974

Filename

4434974