Passivity-Based Tracking Control Design for Underactuated Mechanical Systems

Abstract:

Passivity-based tracking control of the underactuated linear mechanical systems is investigated in this paper. As our main contribution, the matching condition is decreased into two equations and an adjustable gain (damping gain) is introduced into the controller by setting the desired closed-loop system properly. Stability of the closed-loop system is proved based on passivity of the system. Furthermore, as examples, tracking control of 2-DOF Acrobot and 2-DOF Pendubot are studied. The systems are linearized at their equilibriums and the passivity-based controller design method is applied to the linearized systems. Matching conditions are solved and the design procedures of associate controllers for the two robots are provided. The simulation results show that the designed controllers can realize asymptotical tracking for the given desired trajectories.

• Periodical: Advanced Materials Research (Volumes 591-593)
• Pages: 1225-1230
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.591-593.1225
• Online since: November 2012
• Authors: Shan Shan Wu, Wei Huo
• Keywords: Acrobot, Matching Condition, Passivity, Pendubot, Stability Analysis, Tracking Control, Underactuated Mechanical System

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