This paper presents the control of a translational oscillator with a rotational actuator (TORA) system, in full gravity, through the interconnection and damping assignment passivity-based control (IDA-PBC). The sought goal is to control the underactuated TORA system while reducing the complexity in solving the partial differential equations coming out from the so-called matching equations, which arise from the IDA-PBC. The performance of the designed controller is illustrated through numerical simulations.
Control of the TORA System through the IDA-PBC without Explicit Solution of Matching Equations / Arpenti, Pierluigi; Serra, D.; Ruggiero, F.; Lippiello, V.. - (2019), pp. 381-385. (Intervento presentato al convegno 3rd IEEE International Conference on Robotic Computing, IRC 2019 tenutosi a ita nel 2019) [10.1109/IRC.2019.00069].
Control of the TORA System through the IDA-PBC without Explicit Solution of Matching Equations
ARPENTI, PIERLUIGI
;Serra D.;Ruggiero F.;Lippiello V.
2019
Abstract
This paper presents the control of a translational oscillator with a rotational actuator (TORA) system, in full gravity, through the interconnection and damping assignment passivity-based control (IDA-PBC). The sought goal is to control the underactuated TORA system while reducing the complexity in solving the partial differential equations coming out from the so-called matching equations, which arise from the IDA-PBC. The performance of the designed controller is illustrated through numerical simulations.| File | Dimensione | Formato | |
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