IDA-PBC for a class of underactuated mechanical systems with application to a rotary inverted pendulum

M. Ryalat, Dina Shona Laila

Research output: Contribution to conferencePaper

7 Citations (Scopus)

Abstract

We develop a method to simplify the partial differential equations (PDEs) associated to the potential energy for interconnection and damping assignment passivity based control (IDA-PBC) of a class of underactuated mechanical systems. Solving the PDEs, also called the matching equations, is the main difficulty in the construction and application of the IDA-PBC. With the proposed method, a simplification to the potential energy PDE is achieved through a particular parametrization of the closed-loop inertia matrix that appears as a coupling term with the inverse of original inertia matrix. The results are applied to the Quanser rotary inverted pendulum and illustrated through numerical simulations.
Original languageEnglish
Pages5240-5245
DOIs
Publication statusPublished - 10 Mar 2014
EventIEEE Conference on Decision and Control - Florence, Italy
Duration: 10 Dec 201313 Dec 2013

Conference

ConferenceIEEE Conference on Decision and Control
CountryItaly
CityFlorence
Period10/12/1313/12/13

Bibliographical note

The full text is currently unavailable on the repository.

Keywords

  • Potential energy
  • Mechanical systems
  • Damping
  • Kinetic energy
  • Equations
  • Mathematical model
  • stability
  • closed loop systems
  • control system synthesis
  • matrix algebra
  • nonlinear control systems
  • partial differential equations
  • pendulums
  • Quanser rotary inverted pendulum
  • IDA-PBC design
  • interconnection and damping assignment passivity based control
  • underactuated mechanical systems
  • matching equations
  • closed-loop inertia matrix
  • potential energy PDE
  • coupling term
  • numerical simulations
  • underactuated systems
  • Hamiltonian systems
  • passivity-based control
  • rotary inverted pendulum

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  • Cite this

    Ryalat, M., & Laila, D. S. (2014). IDA-PBC for a class of underactuated mechanical systems with application to a rotary inverted pendulum. 5240-5245. Paper presented at IEEE Conference on Decision and Control, Florence, Italy. https://doi.org/10.1109/CDC.2013.6760713