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Energy shaping control of underactuated mechanical systems with fluidic actuation
Author(s) -
Franco Enrico,
Astolfi Alessandro
Publication year - 2022
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.6345
Subject(s) - underactuation , control theory (sociology) , actuator , fluidics , passivity , lyapunov function , modular design , mechanical system , mechanical energy , controller (irrigation) , control engineering , hydraulic cylinder , engineering , computer science , mechanical engineering , control (management) , nonlinear system , physics , aerospace engineering , agronomy , power (physics) , electrical engineering , quantum mechanics , artificial intelligence , biology , operating system
Energy shaping is a remarkably effective control strategy which can be applied to a wide range of systems, including underactuated mechanical systems. However, research in this area has generally neglected actuator dynamics. While this is often appropriate, it might result in degraded performance in the case of fluidic actuation. In this work we present some new results on energy shaping control for underactuated mechanical systems for which the control action is mediated by a pressurized ideal fluid. In particular, we introduce an extended multi‐step energy shaping and damping‐assignment controller design procedure that builds upon the Interconnection‐and‐damping‐assignment Passivity‐based‐control methodology in a modular fashion to account for the pressure dynamics of the fluid. Stability conditions are assessed with a Lyapunov approach, the effect of disturbances is discussed, and the case of redundant actuators is illustrated. The proposed approach is demonstrated with numerical simulations for a modified version of the classical ball‐on‐beam example, which employs two identical cylinders, either hydraulic or pneumatic, to actuate the beam.