Passivity-based control of implicit port-Hamiltonian systems with holonomic constraints

Authors

Abstract

Implicit port-Hamiltonian representations of mechanical systems are considered from a control perspective. Energy shaping is used for the purpose of stabilizing a desired equilibrium. When using implicit models, the problem turns out to be a simple quadratic programming problem (as opposed to the partial differential equations that need to be solved when using explicit representations). The described approach is generalized to address the problem of stabilization of homoclinic orbits thus leading to the formulation of swing-up strategies for underactuated systems.

Keywords

hamiltonian dynamics, holonomic constraints, implicit models, passivity, pendulum, swing-up

Citation

Journal: Systems & Control Letters
Year: 2016
Volume: 94
Issue:
Pages: 11–18
Publisher: Elsevier BV
DOI: 10.1016/j.sysconle.2016.04.004

BibTeX

@article{Casta_os_2016,
  title={{Passivity-based control of implicit port-Hamiltonian systems with holonomic constraints}},
  volume={94},
  ISSN={0167-6911},
  DOI={10.1016/j.sysconle.2016.04.004},
  journal={Systems \&amp; Control Letters},
  publisher={Elsevier BV},
  author={Castaños, Fernando and Gromov, Dmitry},
  year={2016},
  pages={11--18}
}

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