Port-Based Modeling and Optimal Control for a new Very Versatile Energy Efficient Actuator

Authors

Oscar Gerelli, Raffaella Carloni, Stefano Stramigioli

Abstract

In this paper, we analyze in depth the innovative very versatile and energy efficient (V2E2) actuator proposed in Stramigioli et al. (2008). The V2E2 actuator is intended to be used in all kind of robotics and powered prosthetic applications in which energy consumption is a critical issue. In particular, this work focuses on the development of a port-based Hamiltonian model of the V2E2 and presents an optimal control architecture which exploits the intrinsic hybrid characteristics of the actuator design. The optimal control guarantees the minimization of dissipative power losses during torque tracking transients.

Citation

• Journal: IFAC Proceedings Volumes
• Year: 2009
• Volume: 42
• Issue: 16
• Pages: 493–498
• Publisher: Elsevier BV
• DOI: 10.3182/20090909-4-jp-2010.00084
• Note: 9th IFAC Symposium on Robot Control

BibTeX

@article{Gerelli_2009,
  title={{Port-Based Modeling and Optimal Control for a new Very Versatile Energy Efficient Actuator}},
  volume={42},
  ISSN={1474-6670},
  DOI={10.3182/20090909-4-jp-2010.00084},
  number={16},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Gerelli, Oscar and Carloni, Raffaella and Stramigioli, Stefano},
  year={2009},
  pages={493--498}
}

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