

You have already added 0 works in your ORCID record related to the merged Research product.
You have already added 0 works in your ORCID record related to the merged Research product.
<script type="text/javascript">
<!--
document.write('<div id="oa_widget"></div>');
document.write('<script type="text/javascript" src="https://beta.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=undefined&type=result"></script>');
-->
</script>
Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics

handle: 2108/338043 , 10044/1/104469
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.
- Imperial College London United Kingdom
- University of Rome Tor Vergata Italy
- University of Rome Tor Vergata Italy
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
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
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).5 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.Top 10% influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).Average impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.Top 10% visibility views 17 download downloads 13 - 17views13downloads
Data source Views Downloads ZENODO 17 13


