Control of a Three-joint Underactuated Manipulator by IDA-PBC Method
Authors
Abstract
We present an application of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) method to an underactuated manipulator with the third joint unactuated which is subject to second-order nonholonomic constraints. We give a port-Hamiltonian representation of the manipulator system by selecting an appropriate set of generalized coordinates and applying a global input transformation. And we clarify the applicable conditions and design an inertia matrix and a potential energy function of the closed Hamiltonian system. Numerical experiments are given to show the validity of the derived controller.
Citation
- Journal: Transactions of the Society of Instrument and Control Engineers
- Year: 2007
- Volume: 43
- Issue: 9
- Pages: 788–797
- Publisher: The Society of Instrument and Control Engineers
- DOI: 10.9746/ve.sicetr1965.43.788
BibTeX
@article{ITO_2007,
title={{Control of a Three-joint Underactuated Manipulator by IDA-PBC Method}},
volume={43},
ISSN={0453-4654},
DOI={10.9746/ve.sicetr1965.43.788},
number={9},
journal={Transactions of the Society of Instrument and Control Engineers},
publisher={The Society of Instrument and Control Engineers},
author={ITO, Masahide and TODA, Naohiro},
year={2007},
pages={788--797}
}