Authors

M. Reza J. Harandi, S. Ahmad Khalilpour, Hamid Taghirad

Abstract

Stabilization of underactuated systems is a challenging problem especially when external disturbance is applied and the actuators are limited. Interconnection and damping assignment passivity-based control (IDA-PBC) is an approach to regulate the systems represented by port Hamiltonian modeling such as underactuated robots while its application is restricted by some PDEs. In this paper, IDA-PBC is implemented on a spatial3-DOF underactuated cable driven manipulator. A robust term with respect to bounded matched disturbance is designed, non-negative tension in cables by appropriate desired potential energy is considered and stability of the system is ensured by a Lyapunov candidate. simulation results illustrate the effectiveness of the proposed controller.

Citation

  • Journal: 2021 29th Iranian Conference on Electrical Engineering (ICEE)
  • Year: 2021
  • Volume:
  • Issue:
  • Pages: 689–694
  • Publisher: IEEE
  • DOI: 10.1109/icee52715.2021.9544237

BibTeX

@inproceedings{Harandi_2021,
  title={{Robust IDA-PBC for a Spatial Underactuated Cable Driven Robot with Bounded Inputs}},
  DOI={10.1109/icee52715.2021.9544237},
  booktitle={{2021 29th Iranian Conference on Electrical Engineering (ICEE)}},
  publisher={IEEE},
  author={Harandi, M. Reza J. and Khalilpour, S. Ahmad and Taghirad, Hamid},
  year={2021},
  pages={689--694}
}

Download the bib file

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