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European Journal of Control
Article . 2023 . Peer-reviewed
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European Journal of Control
Article . 2023 . Peer-reviewed
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Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics

Authors: Franco, E; Astolfi, A;

Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics

Abstract

In this work we present some new results on energy shaping control for underactuated mechanical systems with high-order actuator dynamics. To this end, we propose an extension of the Interconnection and damping assignment Passivity based control methodology to account for actuator dynamics. This brings the following new results: i) a potential and kinetic energy shaping and damping assignment procedure that yields two alternative controllers; ii) a potential energy shaping and damping assignment procedure for a narrower class of underactuated mechanical systems. The proposed approach is illustrated with numerical simulations on three examples: an Acrobot system with a series elastic actuator; a soft continuum manipulator actuated by electroactive polymers; a two-mass-spring system actuated by a DC motor.

Countries
United Kingdom, Italy
Keywords

Energy shaping, Settore ING-INF/04, Underactuated mechanical systems, Underactuated mechanical systems, Actuator dynamics, Energy shaping, Nonlinear systems., 600, Actuator dynamics, 620, 629, Nonlinear systems

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citations
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
views
OpenAIRE UsageCountsViews provided by UsageCounts
downloads
OpenAIRE UsageCountsDownloads provided by UsageCounts
5
Top 10%
Average
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17
13
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