- Title
- Regulation and Integral Control of an Underactuated Robotic System Using IDA-PBC with Dynamic Extension
- Creator
- Teo, Y. R.; Donaire, A.; Perez, T.
- Relation
- 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Wollongong, Australia 09-12 July, 2013) p. 920-925
- Publisher Link
- http://dx.doi.org/10.1109/AIM.2013.6584211
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2013
- Description
- This paper proposes a method for design of a set-point regulation controller with integral action for an underactuated robotic system. The robot is described as a port-Hamiltonian system, and the control design is based on a coordinate transformation and a dynamic extension. Both the change of coordinates and the dynamic extension add extra degrees of freedom that facilitate the solution of the matching equation associated with interconnection and damping assignment passivity-based control designs (IDA-PBC). The stability of the controlled system is proved using the closed loop Hamiltonian as a Lyapunov candidate function. The performance of the proposed controller is shown in simulation.
- Subject
- port-Hamiltonian system; IDA-PBC; Lyapunov candidate function; control design problem
- Identifier
- http://hdl.handle.net/1959.13/1294157
- Identifier
- uon:18755
- Identifier
- ISBN:9781467353199
- Language
- eng
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