Total energy shaping of a class of underactuated Port-Hamiltonian Systems using a new set of closed-loop potential shape variables

Renton, Christopher, Teo, Yik Ren, & Perez, Tristan (2012) Total energy shaping of a class of underactuated Port-Hamiltonian Systems using a new set of closed-loop potential shape variables. In Farrell, Jay A. (Ed.) Proceedings of IEEE 51st IEEE Conference on Decision and Control (CDC 2012), IEEE, Maui, Hawaii, pp. 4603-4609.

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Abstract

This paper proposes a method for designing set-point regulation controllers for a class of underactuated mechanical systems in Port-Hamiltonian System (PHS) form. A new set of potential shape variables in closed loop is proposed, which can replace the set of open loop shape variables-the configuration variables that appear in the kinetic energy. With this choice, the closed-loop potential energy contains free functions of the new variables. By expressing the regulation objective in terms of these new potential shape variables, the desired equilibrium can be assigned and there is freedom to reshape the potential energy to achieve performance whilst maintaining the PHS form in closed loop. This complements contemporary results in the literature, which preserve the open-loop shape variables. As a case study, we consider a robotic manipulator mounted on a flexible base and compensate for the motion of the base while positioning the end effector with respect to the ground reference. We compare the proposed control strategy with special cases that correspond to other energy shaping strategies previously proposed in the literature.

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ID Code: 70955
Item Type: Conference Paper
Refereed: Yes
Keywords: Closed loop systems, Control system synthesis, End effectors, Mechanical engineering, Motion compensation, Open loop systems, Position control
DOI: 10.1109/CDC.2012.6426822
ISBN: 9781467320665
ISSN: 0743-1546
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Funding:
  • BR&TA/n/a
Copyright Owner: Copyright 2012 IEEE
Deposited On: 05 May 2014 03:47
Last Modified: 09 May 2014 05:48

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