Authors

Cecilia Cornejo, Luis Alvarez-Icaza

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.

Citation

  • Journal: 2007 46th IEEE Conference on Decision and Control
  • Year: 2007
  • Volume:
  • Issue:
  • Pages: 3859–3864
  • Publisher: IEEE
  • DOI: 10.1109/cdc.2007.4434974

BibTeX

@inproceedings{Cornejo_2007,
  title={{A nonlinear friction model for the passivity-based control of underactuated mechanical systems}},
  DOI={10.1109/cdc.2007.4434974},
  booktitle={{2007 46th IEEE Conference on Decision and Control}},
  publisher={IEEE},
  author={Cornejo, Cecilia and Alvarez-Icaza, Luis},
  year={2007},
  pages={3859--3864}
}

Download the bib file

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