Passivation of underactuated systems with physical damping

F Gomez-Estern, Arjan van der Schaft, J.A. Acosta

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    Abstract

    In recent works, IDA-PBC has been succesfully applied to mechanical control problems with no physical damping present. In some cases, the friction terms can be obviated without compromising stability in closed loop. However in methods that modify the kinetic energy, a controller designed for stabilizing the undamped system might loose passivity, a key property for stabilization, when damping is introduced. This paper presents a necessary and sufficient condition, namely the dissipation condition, for recovering passivity (and hence stability) in such cases. If the dissipation condition is fulfilled, an IDA-PBC redesign is necessary in general, and with this goal two different methods for passivating the damped system are presented.
    Original languageUndefined
    Title of host publicationNonlinear Control Systems 2004
    EditorsFrank Allgöwer, Michael Zeitz
    Place of PublicationStuttgart
    PublisherElsevier
    Pages1235-1240
    Number of pages6
    ISBN (Print)978-0-08-044303-4
    Publication statusPublished - 2005
    Event6th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2004 - Stuttgart, Germany
    Duration: 1 Sep 20043 Sep 2004
    Conference number: 6

    Publication series

    NameIFAC proceedings volumes
    PublisherElsevier

    Conference

    Conference6th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2004
    Abbreviated titleNOLCOS
    CountryGermany
    CityStuttgart
    Period1/09/043/09/04

    Keywords

    • EWI-16806
    • IR-69157
    • METIS-219894

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