A Constructive Methodology for the IDA-PBC of Underactuated 2-DoF Mechanical Systems with Explicit Solution of PDEs

Authors

Pierluigi Arpenti, Fabio Ruggiero, Vincenzo Lippiello

Abstract

This paper presents a passivity-based control strategy dealing with underactuated two-degree-of-freedom (2-DoF) mechanical systems. Such a methodology, which is based on the interconnection and damping assignment passivity-based control (IDA-PBC), rooted within the port-controlled Hamiltonian framework, can be applied to a very large class of underactuated 2-DoF mechanical systems. The main contribution, compared to the previous literature, is that the new methodology does not involve the resolution of any partial differential equation, since explicit solutions are given, while no singularities depending on generalised momenta are introduced by the controller. The proposed strategy is applied to two case studies: a) the stabilisation of a translational oscillator with a rotational actuator (TORA) system; b) the gait generation for an underactuated compass-like biped robot. The performances of the presented solution are evaluated through numerical simulations.

Keywords

biped robots, interconnection and damping assignment, passivity-based control, port-controlled hamiltonian, tora system

Citation

• Journal: International Journal of Control, Automation and Systems
• Year: 2022
• Volume: 20
• Issue: 1
• Pages: 283–297
• Publisher: Springer Science and Business Media LLC
• DOI: 10.1007/s12555-020-0839-1

BibTeX

@article{Arpenti_2022,
  title={{A Constructive Methodology for the IDA-PBC of Underactuated 2-DoF Mechanical Systems with Explicit Solution of PDEs}},
  volume={20},
  ISSN={2005-4092},
  DOI={10.1007/s12555-020-0839-1},
  number={1},
  journal={International Journal of Control, Automation and Systems},
  publisher={Springer Science and Business Media LLC},
  author={Arpenti, Pierluigi and Ruggiero, Fabio and Lippiello, Vincenzo},
  year={2022},
  pages={283--297}
}

Download the bib file

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