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

descriptionPublicationkeyboard_double_arrow_right Article 01 Jul 2023 United Kingdom, Italy Publisher:Elsevier BVJournal:European Journal of Control, volume 72, page 100,828 (issn: 0947-3580,

Authors: Franco, E; Astolfi, A;

doi: 10.1016/j.ejcon.2023.100828

handle: 2108/338043 , 10044/1/104469

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

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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

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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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	impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.	Top 10%