On the matching equations of kinetic energy shaping in IDA-PBC

被引：12
作者：
Harandi, M. Reza J. [1 ]
Taghirad, Hamid D. [1 ]
机构：
[1] KN Toosi Univ Technol, Fac Elect Engn, Adv Robot & Automated Syst ARAS, Tehran, Iran
来源：
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | 2021年 / 358卷 / 16期
关键词：
PASSIVITY-BASED CONTROL; UNDERACTUATED MECHANICAL SYSTEMS; INTERCONNECTION; STABILIZATION; ROBOTS;
D O I：
10.1016/j.jfranklin.2021.08.034
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Interconnection and damping assignment passivity-based control scheme has been used to stabilize many physical systems such as underactuated mechanical systems through total energy shaping. In this method, some partial differential equations (PDEs) related to kinetic and potential energy shaping shall be solved analytically. Finding a suitable desired inertia matrix as the solution of nonlinear PDEs relevant to kinetic energy shaping is a challenging problem. In this paper, a systematic approach to solving this matching equation for systems with one degree of underactuation is proposed. A special structure for desired inertia matrix is proposed to simplify the solution of the corresponding PDE. It is shown that the proposed method is more general than that of some reported methods in the literature. In order to derive a suitable desired inertia matrix, a necessary condition is also derived. The proposed method is applied to three examples, including pendubot, VTOL aircraft, and 2D SpiderCrane. (c) 2021 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：8639 / 8655
页数：17
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