Energy shaping control of underactuated mechanical systems with fluidic actuation
OA Location
Author(s)
Franco, Enrico
Astolfi, alessandro
Type
Journal Article
Abstract
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.
Date Issued
2022-12
Date Acceptance
2022-08-10
Citation
International Journal of Robust and Nonlinear Control, 2022, 32 (18), pp.10011-10028
ISSN
1049-8923
Publisher
International Federation of Automatic Control (IFAC)
Start Page
10011
End Page
10028
Journal / Book Title
International Journal of Robust and Nonlinear Control
Volume
32
Issue
18
Copyright Statement
© 2022 The Authors. International Journal of Robust and Nonlinear Control published by John Wiley & Sons Ltd.
This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.
This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.
License URL
Sponsor
Engineering & Physical Science Research Council (E
Commission of the European Communities
Engineering & Physical Science Research Council (E
Identifier
https://onlinelibrary.wiley.com/doi/10.1002/rnc.6345
Grant Number
EP/W005557/1
739551
EP/R511547/1
Subjects
Science & Technology
Technology
Physical Sciences
Automation & Control Systems
Engineering, Electrical & Electronic
Mathematics, Applied
Engineering
Mathematics
energy shaping
fluidic actuation
nonlinear systems
underactuated mechanical systems
PASSIVITY-BASED CONTROL
DAMPING ASSIGNMENT
IDA-PBC
INTERCONNECTION
STABILIZATION
Industrial Engineering & Automation
0102 Applied Mathematics
0906 Electrical and Electronic Engineering
0913 Mechanical Engineering
Publication Status
Published
Date Publish Online
2022-09-11