2023/01/10 by Joel Ferguson, Ferguson, Joel
Engineering · #Control and Stability of Dynamical Systems #Electric and Hybrid Vehicle Technologies #FOS: Electrical engineering #Real-time simulation and control systems #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2301.03746
openalex publication_date 2023/01/10 · openalex created_date 2023/01/12 · openalex updated_date 2026/07/28
Application of IDA-PBC to mechanical systems has received much attention in recent decades, but its application is still limited by the solvability of the so-called matching conditions. In this work, it is shown that total energy-shaping control of under-actuated mechanical systems has a control-by-interconnection interpretation. Using this interpretation, alternate matching conditions are formulated that defines constraints on the added energy, rather then the total closed-loop energy. It is additionally shown that, for systems that are under-actuated degree one with the mass matrix depending on a single coordinate, the kinetic energy matching conditions resolve to ODEs which can be evaluated numerically. Using this approach controllers are proposed for the benchmark cart-pole and acrobot systems.