Regulation control of underactuated mechanical systems based on a new matching equation of port-controlled hamiltonian systems

Authors

null Zheng Wang, P. Goldsmith, J. Gu

Abstract

We consider the control of Port-Controlled Hamiltonian (PCH) systems, which are a generalization of Euler-Lagrange Systems. A new matching equation for PCH systems is developed so that Interconnection Damping Assignment Passivity-Based Control (IDA-PBC) can be extended to the regulation of some underactuated PCH systems whose kinetic energy must be modified. A simple underactuated mechanical system (the inertial wheel pendulum) is used to demonstrate the effectiveness of the proposed method..

Citation

• Journal: 2009 IEEE International Conference on Robotics and Automation
• Year: 2009
• Volume:
• Issue:
• Pages: 992–997
• Publisher: IEEE
• DOI: 10.1109/robot.2009.5152627

BibTeX

@inproceedings{Zheng_Wang_2009,
  title={{Regulation control of underactuated mechanical systems based on a new matching equation of port-controlled hamiltonian systems}},
  DOI={10.1109/robot.2009.5152627},
  booktitle={{2009 IEEE International Conference on Robotics and Automation}},
  publisher={IEEE},
  author={Zheng Wang and Goldsmith, P. and Gu, J.},
  year={2009},
  pages={992--997}
}

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