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

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..

DOI: 10.1109/ROBOT.2009.5152627

7 Figures and Tables

Cite this paper

@article{Wang2009RegulationCO, title={Regulation control of underactuated mechanical systems based on a new matching equation of port-controlled hamiltonian systems}, author={Zheng Wang and Peter B. Goldsmith and Jason Jianjun Gu}, journal={2009 IEEE International Conference on Robotics and Automation}, year={2009}, pages={992-997} }