Port-Hamiltonian Representation of Mechanical Systems With Velocity Inputs

Authors

Joel Ferguson, Christopher Renton

Abstract

In this note, we propose a method for describing the dynamics of mechanical systems with velocity-based inputs within the port-Hamiltonian framework. Canonical representations of mechanical systems assume force/torque inputs. Many commonly used actuators, however, have internal dynamics that cause the output velocity to quickly converge to a specified reference velocity. In such cases, it is more meaningful from a modeling and control perspective to define models that admit a velocity input. This is achieved in this letter by performing a momentum transformation and state reduction, resulting in a reduced-order model where the relevant velocity is a causal input. The reduced-order model preserves the passivity of the original port-Hamiltonian system. The results are demonstrated by applying a velocity-input control signal to the classical cart-pole system.

Citation

• Journal: IEEE Control Systems Letters
• Year: 2024
• Volume: 8
• Issue:
• Pages: 1367–1372
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/lcsys.2024.3410635

BibTeX

@article{Ferguson_2024,
  title={{Port-Hamiltonian Representation of Mechanical Systems With Velocity Inputs}},
  volume={8},
  ISSN={2475-1456},
  DOI={10.1109/lcsys.2024.3410635},
  journal={IEEE Control Systems Letters},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Ferguson, Joel and Renton, Christopher},
  year={2024},
  pages={1367--1372}
}

Download the bib file

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