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Interconnection and damping assignment passivity‐based control of a class of underactuated mechanical systems with dynamic friction
Author(s) -
Sandoval Jesús,
Kelly Rafael,
Santibáñez Víctor
Publication year - 2011
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.1622
Subject(s) - passivity , underactuation , interconnection , control theory (sociology) , mechanical system , nonlinear system , furuta pendulum , exponential stability , lyapunov function , extension (predicate logic) , observer (physics) , computer science , engineering , inverted pendulum , double pendulum , control (management) , physics , mechanical engineering , computer network , quantum mechanics , artificial intelligence , electrical engineering , programming language
This paper considers the extension of the interconnection and damping assignment passivity‐based control methodology for a class of underactuated mechanical systems with dynamic friction. We present a new damping assignment approach to compensate friction by means of a nonlinear observer. Friction at the actuated joints is assumed to be captured by a bristle deflection model: the Dahl model. Based on the Lyapunov direct method we show that, under some conditions, the overall closed‐loop system is stable and, by invoking the theorem of Barbashin–Krasovskii, we arrive to asymptotic stability conditions. Experiments with an underactuated mechanical system, the Furuta pendulum, show the effectiveness of the proposed scheme when friction is compensated. Copyright © 2010 John Wiley & Sons, Ltd.