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Title:

On a generalized port-Hamiltonian representation for the control of damped underactuated mechanical systems

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Kotyczka, P. ; Sergio, D.L.
Pages contribution:
pp. 149-154
Abstract:
A well-known problem in controller design for underactuated mechanical systems using the Interconnection and Damping Assignment (IDA-PBC) technique is friction in unactuated degrees of freedom. For certain equilibria the definiteness requirements on the virtual energy of the port-Hamiltonian (pH) target system and the closed-loop dissipation matrix can not be satisfied simultaneously. In this contribution a modification of the pH target system is proposed, where particularly the total energy fun...     »
Keywords:
Pendulums; Control; rotary inverted; passivity based control; physical damping; Port-Hamiltonian systems; Unteractuated mechanical systems
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Editor:
FAC Secretariat
Book / Congress title:
IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear control [4th, Bertinoro, Italy, 2012]
Congress (additional information):
IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume:
Vol. 45
Edition:
Issue 19
Date of congress:
29.-31.8.2012
Year:
2012
Covered by:
Scopus
Print-ISBN:
978-390282308-3
Bookseries ISSN:
14746670
Reviewed:
ja
Language:
en
Publication format:
Print
Fulltext / DOI:
doi:10.3182/20120829-3-IT-4022.00007
TUM Institution:
Lehrstuhl für Regelungstechnik
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