Interconection and Damping Assignment Control of the Subactuated TORA Mechanical System
Authors
Maribel P´erez Pirela, Atilio Morillo, Miguel E. Rodriguez R.y, Dolores Amada Gualli Bonilla, Mar´ıa Fernanda Romero Villacr´esx
Abstract
El sistema TORA (translational oscillator with rotational actuator) es un prototipo de sistema mecanico subactuado que ha merecido gran atencion por la comunidad cientifica de control no lineal. En este trabajo, partiendo de la representacion Hamiltoniana controlada por puertos basada en la energia total del sistema, considerada como energia cinetica mas energia potencial, y mediante la utilizacion del metodo de control basado en Interconexion y Asignacion de Amortiguamiento, se obtiene un controlador que logra estabilizar en forma global y asintotica el punto de equilibrio alcanzando un excelente desempeno. Las simulaciones numericas mostradas al final del trabajo confirman esta apreciacion. Palabras clave: Control no lineal, sistemas mecanicos subactuados, control basado en pasividad, metodo IDA-PBC, sistema TORA. The TORA system (translational oscillator with rotational actuator) is a prototype of sub-acted mechanical system that has deserved great attention of the nonlinear control scientific community. In this paper, beginning with the Port Controlled Hamiltonian representation founded in the total energy of the system, considered as kinetic plus potential energy, and through the use of the method of control based on the interconnection and damped assignment, is obtained a controller that achieves the goal of to stabilize global and asymptotically the equilibrium point, with an excellent performance. Numerical simulations shown at the end of the work confirm the theoretical results. Key words: Nonlinear control, Sub-acted mechanical systems, passivity based control, IDA-PBC method, TORA system
Citation
- Journal: International Journal of Engineering Research and Technology
- Year: 2020
- Volume: 13
- Issue: 10
- Pages: 2706
- Publisher: International Research Publication House
- DOI: 10.37624/ijert/13.10.2020.2706-2711
BibTeX
@article{Pirela_2020,
title={{Interconection and Damping Assignment Control of the Subactuated TORA Mechanical System}},
volume={13},
ISSN={0974-3154},
DOI={10.37624/ijert/13.10.2020.2706-2711},
number={10},
journal={International Journal of Engineering Research and Technology},
publisher={International Research Publication House},
author={Pirela, Maribel P´erez and Morillo, Atilio and Rodriguez R.y, Miguel E. and Gualli Bonilla, Dolores Amada and Romero Villacr´esx, Mar´ıa Fernanda},
year={2020},
pages={2706}
}