Regulation and integral control of an underactuated robotic system using IDA-PBC with dynamic extension

Teo, Yik Ren, Donaire, Alejandro, & Perez, Tristan (2013) Regulation and integral control of an underactuated robotic system using IDA-PBC with dynamic extension. In Proceedings of the 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, IEEE, Wollongong, NSW, pp. 920-925.

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Abstract

This paper proposes a method for design of a set-point regulation controller with integral action for an underactuated robotic system. The robot is described as a port-Hamiltonian system, and the control design is based on a coordinate transformation and a dynamic extension. Both the change of coordinates and the dynamic extension add extra degrees of freedom that facilitate the solution of the matching equation associated with interconnection and damping assignment passivity-based control designs (IDA-PBC). The stability of the controlled system is proved using the closed loop Hamiltonian as a Lyapunov candidate function. The performance of the proposed controller is shown in simulation.

Impact and interest:

2 citations in Scopus
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1 citations in Web of Science®

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ID Code: 70885
Item Type: Conference Paper
Refereed: Yes
Keywords: Lyapunov methods, Actuators, Closed loop systems, Control system synthesis, Damping, Interconnected systems, Mobile robots, Regulation, Robot dynamics
DOI: 10.1109/AIM.2013.6584211
ISBN: 9781467353205
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2013 IEEE
Deposited On: 02 May 2014 03:36
Last Modified: 06 May 2014 04:52

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