- Title
- Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces
- Creator
- Donaire, Alejandro; Ortega, Romeo; Romero, Jose Guadalupe
- Relation
- 2016 American Control Conference (ACC). Proceedings of the 2016 American Control Conference (Boston, MA 6-8 July, 2016) p. 6610-6615
- Publisher Link
- http://dx.doi.org/10.1109/ACC.2016.7526711
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2016
- Description
- To extend the realm of application of the well known controller design technique of interconnection and damping assignment passivity-based control (IDA-PBC) of mechanical systems two modifications to the standard method are presented in this article. First, similarly to [1], [13], it is proposed to avoid the splitting of the control action into energy-shaping and damping injection terms, but instead to carry them out simultaneously. Second, motivated by [2], we propose to consider the inclusion of dissipative forces, going beyond the gyroscopic ones used in standard IDA-PBC. It can be shown that new controllers for mechanical systems that do not satisfy the conditions of standard IDA-PBC, actually belong to this new class of SIDA-PBC.
- Subject
- damping; mechanical systems; standards; control systems; potential energy; electronic mail; Lyapunov methods
- Identifier
- http://hdl.handle.net/1959.13/1326044
- Identifier
- uon:25352
- Identifier
- ISBN:9781467386821
- Language
- eng
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