Authors

Masahide Ito, Naohiro Toda

Abstract

Passivity-based control of port-Hamiltonian (PH) systems has been investigated as one of powerful control techniques for nonlinear physical systems [1]. Recently, it has become known that some underactuated mechanical systems, i.e. systems with less degrees of freedom than the number of generalized coordinates, can be controlled in this frame-work [2, 3]. This control method is practicable since it is expected that passivity will provide the robust stable closed loop [4, 5]. However, addressing the subject of underactuated manipulator, there is only an application to Acrobot [6].

Keywords

38th ieee conf, constraint force, nonholonomic constraint, revolute joint, underactuated mechanical system

Citation

BibTeX

@inbook{Ito_2007,
  title={{Control for a Three-Joint Underactuated Planar Manipulator - Interconnection and Damping Assignment Passivity-Based Control Approach}},
  ISBN={9781846289743},
  ISSN={1610-7411},
  DOI={10.1007/978-1-84628-974-3_10},
  booktitle={{Robot Motion and Control 2007}},
  publisher={Springer London},
  author={Ito, Masahide and Toda, Naohiro},
  year={2007},
  pages={109--117}
}

Download the bib file

References

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