Passivity-Based Stabilization of Underactuated Mechanical Systems

Abstract:

A new stabilization control method for underactuated linear mechanical systems is presented in this paper. By proper setting the desired closed-loop system, the matching condition for controller design is reduced to one equation and an adjustable parameter (damping coefficient) is introduced to the controller. Stability of the closed-loop system is proved based on passivity. As an application example, stabilization control of 2-DOF Pendubot is studied. The system is linearized at its equilibrium point and the proposed controller design method is applied to the linearized system. The procedure of solving matching condition and design controller for the Pendubot is provided. The simulation results verify feasibility of the proposed method.

• Periodical: Applied Mechanics and Materials (Volume 421)
• Pages: 16-22
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.421.16
• Online since: September 2013
• Authors: Shan Shan Wu, Wei Huo
• Keywords: Controller Design, Passivity, Pendubot, Stabilization, Underactuated Systems

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