Control of a Three-joint Underactuated Manipulator by IDA-PBC Method
نویسندگان
چکیده
منابع مشابه
A Direct Discrete-time IDA-PBC Design Method for a Class of Underactuated Hamiltonian Systems
In this paper, a direct discrete time design method in the sense of passivity-based control (PBC) is investigated. This method, which is known as interconnection and damping (IDA), deals with the stabilization of under-actuated mechanical systems and, it is based on the modification of both the potential and kinetic energies. In order to give a direct discrete time IDA-PBC design method, the di...
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Energy shaping and passivity-based control designs have proven to be effective in solving control problems for underactuated mechanical systems. In recent works, Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) has been successfully applied to open loop conservative models, i.e. with no physical damping (e.g., friction) present. In a number of cases, in particular when I...
متن کاملA novel induction motor control scheme using IDA-PBC
A new control scheme for induction motors is proposed in the present paper, applying the interconnection and damping assignment-passivity based control (IDA-PBC) method. The scheme is based exclusively on passivity based control, without restricting the input frequency as it is done in field oriented control (FOC). A port-controlled Hamiltonian (PCH) model of the induction motor is deduced to m...
متن کاملA simplified IDA-PBC design for underactuated mechanical systems with applications
We develop a method to simplify the partial differential equations (PDEs) associated to the potential energy for interconnection and damping assignment passivity based control (IDA-PBC) of a class of underactuated mechanical systems (UMSs). Solving the PDEs, also called the matching equations, is the main difficulty in the construction and application of the IDA-PBC. We propose a simplification...
متن کاملParametrierung von IDA-PBC über Zuweisung lokal linearer Dynamik (Parametrization of IDA-PBC by Assignment of Local Linear Dynamics)
Zusammenfassung Der Beitrag beschäftigt sich mit der Parametrierung der nichtlinearen Zustandsregelung durch Interconnection and Damping Assignment Passivity Based Control (IDA-PBC). Die Struktur der geregelten Strecke als Port-Hamilton (PH) System ist physikalisch motiviert und beruht auf der Speicherung, dem Austausch und der Dissipation von Energie. Die Wirkung der Entwurfsparameter in den v...
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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 2007
ISSN: 0453-4654
DOI: 10.9746/ve.sicetr1965.43.788