Regulation and integral control of an underactuated robotic system using IDA-PBC with dynamic extension

Authors

Y. R. Teo, A. Donaire, T. Perez

Abstract

This paper proposes a method for design of a set-point regulation controller with integral action for an underactuated robotic system. The robot is described as a port-Hamiltonian system, and the control design is based on a coordinate transformation and a dynamic extension. Both the change of coordinates and the dynamic extension add extra degrees of freedom that facilitate the solution of the matching equation associated with interconnection and damping assignment passivity-based control designs (IDA-PBC). The stability of the controlled system is proved using the closed loop Hamiltonian as a Lyapunov candidate function. The performance of the proposed controller is shown in simulation.

Citation

• Journal: 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
• Year: 2013
• Volume:
• Issue:
• Pages: 920–925
• Publisher: IEEE
• DOI: 10.1109/aim.2013.6584211

BibTeX

@inproceedings{Teo_2013,
  title={{Regulation and integral control of an underactuated robotic system using IDA-PBC with dynamic extension}},
  DOI={10.1109/aim.2013.6584211},
  booktitle={{2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics}},
  publisher={IEEE},
  author={Teo, Y. R. and Donaire, A. and Perez, T.},
  year={2013},
  pages={920--925}
}

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