48 research outputs found
Immersion and invariance orbital stabilization of underactuated mechanical systems with collocated pre-feedback
In this note we study the generation of attractive oscillations of a class of
mechanical systems with underactuation one. The proposed design consists of two
terms, i.e., a partial linearizing state feedback, and an immersion and
invariance orbital stabilization controller. The first step is adopted to
simplify analysis and design, however, bringing an additional difficulty that
the model loses its Euler-Lagrange structure after the collocated pre-feedback.
To address this, we propose a constructive solution to the orbital
stabilization problem via a smooth controller in an analytic form, and the
model class identified in the paper is characterized via some easily apriori
verifiable assumptions on the inertia matrix and the potential energy function
Speed Observation and Position Feedback Stabilization of Partially Linearizable Mechanical Systems
The problems of speed observation and position feedback stabilization of mechanical systems are addressed in this paper. Our interest is centered on systems that can be rendered linear in the velocities via a (partial) change of coordinates. It is shown that the class is fully characterized by the solvability of a set of partial differential equations (PDEs) and strictly contains the class studied in the existing literature on linearization for speed observation or control. A reduced order globally exponentially stable observer, constructed using the immersion and invariance methodology, is proposed. The design requires the solution of another set of PDEs, which are shown to be solvable in several practical examples. It is also proven that the full order observer with dynamic scaling recently proposed by Karagiannis and Astolfi obviates the need to solve the latter PDEs. Finally, it is shown that the observer can be used in conjunction with an asymptotically stabilizing full state-feedback interconnection and damping assignment passivity-based controller preserving asymptotic stability.</p
Control of Underactuated Mechanical Systems:Observer Design and Position Feedback Stabilization
We identify a class of mechanical systems for which a globally exponentially stable reduced order observer can be designed. The class is characterized by (the solvability of) a set of partial differential equations and contains all systems that can be rendered linear in (the unmeasurable) momenta via a (partial) change of coordinates. It is shown that this class is larger than the one reported in the literature of observer design and linearization. We also prove that, under very weak assumptions, the observer can be used in conjunction with an asymptotically stabilizing full state-feedback Interconnection and Damping Assignment Passivity-Based Controller, preserving stability.Caveat Emptor: This paper is a shortened version of the technical note [1] which can be obtained upon request from the authors.</p
A simplified IDA-PBC design for underactuated mechanical systems with applications
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 (UMSs). Solving the PDEs, also called the matching equations, is the main difficulty in the construction and application of the IDA-PBC. We propose a simplification to the potential energy PDEs through a particular parametrization of the closed-loop inertia matrix that appears as a coupling term with the inverse of the original inertia matrix. The parametrization accounts for kinetic energy shaping, which is then used to simplify the potential energy PDEs and their solution that is used for the potential energy shaping. This energy shaping procedure results in a closed-loop UMS with a modified energy function. This approach avoids the cancellation of nonlinearities, and extends the application of this method to a larger class of systems, including separable and non-separable port-controlled Hamiltonian (PCH) systems. Applications to the inertia wheel pendulum and the rotary inverted pendulum are presented, and some realistic simulations are presented which validate the proposed control design method and prove that global stabilization of these systems can be achieved. Experimental validation of the proposed method is demonstrated using a laboratory set-up of the rotary pendulum. The robustness of the closed-loop system with respect to external disturbances is also experimentally verifie
Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
Published versio
Adaptive IDA-PBC for underactuated mechanical systems with constant disturbances
This work investigates the control of nonlinear underactuated mechanical systems with matched and unmatched constant disturbances. To this end, a new control strategy is proposed, which builds upon the interconnectionâandâdampingâassignment passivityâbased control, augmenting it with an additional term for the purpose of disturbance compensation. In particular, the disturbances are estimated adaptively and then accounted for in the control law employing a new matching condition of algebraic nature. Stability conditions are discussed, and for comparison purposes, an alternative controller based on partial feedback linearization is presented. The effectiveness of the proposed approach is demonstrated with numerical simulations for three motivating examples: the inertia wheel pendulum, the diskâonâdisk system, and the pendulumâonâcart system
Energy-Based Control for the Cart-Pole System in Implicit Port-Hamiltonian Representation
This master thesis is devoted to the design, analysis, and experimental validation of an
energy-based control strategy for the well-known benchmark cart-pole system in implicit
Port-Hamiltonian (PH) representation. The control scheme performs two tasks: swingup and (local) stabilization. The swing-up controller is carried out on the basis of a
generalized energy function and consists of bringing the pendulum trajectories from the
lower (stable) position to a limit cycle (homoclinic orbit), which passes by the upright
(unstable) position, as well as the cart trajectories to the desired point. The (local)
stabilizing controller is designed under a novel algebraic Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) technique and ensures the upright
(asymptotic) stabilization of the pendulum as well as the cart at a desired position. To
illustrate the effectiveness of the proposed control scheme, this work presents simulations and real-time experiments considering physical damping, i.e., viscous friction. The
results are additionally contrasted with another energy-based control strategy for the
cart-pole system in explicit Euler-Lagrange (EL) representation.Diese Masterarbeit widmet sich dem Entwurf, der Analyse und der experimentellen
Validierung einer energiebasierten Regelstrategie fĂŒr das bekannte Benchmarksystem des
inversen Pendels auf einem Wagen in impliziter Port-Hamiltonscher (PH) Darstellung.
Das Regelungssystem erfĂŒllt zwei Aufgaben: das Aufschwingen und (lokale) Stabilisierung. Das Aufschwingen erfolgt auf Grundlage der generalisierten Energiefunktion und
besteht darin, sowohl die Trajektorien des Pendels von der unteren (stabilen) Position
in einen Grenzzyklus (homokliner Orbit) zu bringen, wobei die (instabile) aufrechte
Lage passiert wird, als auch den Wagen in einer gewĂŒnschten Position einzustellen. Die
(lokale) Regelung zur Stabilisierung ist nach einer neuartigen algebraischen Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) Methode konzipiert
und gewÀhrleistet die aufrechte (asymptotische) Stabilisierung des Pendels sowie die
Positionierung des Wagens an einem gewĂŒnschten Referenzpunkt. Um die FunktionalitĂ€t
des entworfenen Regelungssystems zu veranschaulichen, werden in dieser Masterarbeit Simulationen und Echtzeit-Experimente unter BerĂŒcksichtigung der physikalischen
DÀmpfung, d.h. der viskosen Reibung, vorgestellt. Die Ergebnisse werden zusÀtzlich mit
einem weiteren energiebasierten Regelungsansatz fĂŒr das System des inversen Pendels
auf einem Wagen in expliziter Euler-Lagrange (EL) Darstellung verglichen.Tesi