Passivation of underactuated systems with physical damping


Gomez-Estern, F. and Schaft, A.J. van der and Acosta, J.A. (2005) Passivation of underactuated systems with physical damping. In: 6th IFAC Symposium on Nonlinear Control Systems, 1-3 September 2004, Stuttgart, Germany (pp. pp. 1235-1240).

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Abstract:In recent works, IDA-PBC has been succesfully applied to mechanical control problems with no physical damping present. In some cases, the friction terms can be obviated without compromising stability in closed loop. However in methods that modify the kinetic energy, a controller designed for stabilizing the undamped system might loose passivity, a key property for stabilization, when damping is introduced. This paper presents a necessary and sufficient condition, namely the dissipation condition, for recovering passivity (and hence stability) in such cases. If the dissipation condition is fulfilled, an IDA-PBC redesign is necessary in general, and with this goal two different methods for passivating the damped system are presented.
Item Type:Conference or Workshop Item
Copyright:© 2005 IFAC
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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