Port-Hamiltonian Representation of Mechanical Systems With Velocity Inputs

Title: Port-Hamiltonian Representation of Mechanical Systems With Velocity Inputs
Creator: Ferguson, Joel; Renton, Christopher
Relation: IEEE Control Systems Letters Vol. 8, p. 1367-1372
Publisher Link: http://dx.doi.org/10.1109/LCSYS.2024.3410635
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2024
Description: In this note, we propose a method for describing the dynamics of mechanical systems with velocity-based inputs within the port-Hamiltonian framework. Canonical representations of mechanical systems assume force/torque inputs. Many commonly used actuators, however, have internal dynamics that cause the output velocity to quickly converge to a specified reference velocity. In such cases, it is more meaningful from a modeling and control perspective to define models that admit a velocity input. This is achieved in this work by performing a momentum transformation and state reduction, resulting in a reduced-order model where the relevant velocity is a causal input. The reduced-order model preserves the passivity of the original port-Hamiltonian system. The results are demonstrated by applying a velocity-input control signal to the classical cart-pole system.
Subject: velocity control; nonlinear control systems; nonlinear systems; mechanical systems
Identifier: http://hdl.handle.net/1959.13/1509562
Identifier: uon:56259
Identifier: ISSN:2475-1456
Language: eng
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