Passivity-based control of implicit port-Hamiltonian systems with holonomic constraints

Fernando Castanos, Dmitry Gromov

Research output

7 Citations (Scopus)

Abstract

Implicit port-Hamiltonian representations of mechanical systems are considered from a control perspective. Energy shaping is used for the purpose of stabilizing a desired equilibrium. When using implicit models, the problem turns out to be a simple quadratic programming problem (as opposed to the partial differential equations that need to be solved when using explicit representations). The described approach is generalized to address the problem of stabilization of homoclinic orbits thus leading to the formulation of swing-up strategies for underactuated systems. (C) 2016 Elsevier B.V. All rights reserved.

Original languageEnglish
Pages (from-to)11-18
Number of pages8
JournalSystems and Control Letters
Volume94
DOIs
Publication statusPublished - Aug 2016

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Hamiltonians
Quadratic programming
Partial differential equations
Orbits
Stabilization

Cite this

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title = "Passivity-based control of implicit port-Hamiltonian systems with holonomic constraints",
abstract = "Implicit port-Hamiltonian representations of mechanical systems are considered from a control perspective. Energy shaping is used for the purpose of stabilizing a desired equilibrium. When using implicit models, the problem turns out to be a simple quadratic programming problem (as opposed to the partial differential equations that need to be solved when using explicit representations). The described approach is generalized to address the problem of stabilization of homoclinic orbits thus leading to the formulation of swing-up strategies for underactuated systems. (C) 2016 Elsevier B.V. All rights reserved.",
keywords = "Hamiltonian dynamics, Holonomic constraints, Implicit models, Passivity, Pendulum, Swing-up, MECHANICAL SYSTEMS, INTERCONNECTION",
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AU - Castanos, Fernando

AU - Gromov, Dmitry

PY - 2016/8

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N2 - Implicit port-Hamiltonian representations of mechanical systems are considered from a control perspective. Energy shaping is used for the purpose of stabilizing a desired equilibrium. When using implicit models, the problem turns out to be a simple quadratic programming problem (as opposed to the partial differential equations that need to be solved when using explicit representations). The described approach is generalized to address the problem of stabilization of homoclinic orbits thus leading to the formulation of swing-up strategies for underactuated systems. (C) 2016 Elsevier B.V. All rights reserved.

AB - Implicit port-Hamiltonian representations of mechanical systems are considered from a control perspective. Energy shaping is used for the purpose of stabilizing a desired equilibrium. When using implicit models, the problem turns out to be a simple quadratic programming problem (as opposed to the partial differential equations that need to be solved when using explicit representations). The described approach is generalized to address the problem of stabilization of homoclinic orbits thus leading to the formulation of swing-up strategies for underactuated systems. (C) 2016 Elsevier B.V. All rights reserved.

KW - Hamiltonian dynamics

KW - Holonomic constraints

KW - Implicit models

KW - Passivity

KW - Pendulum

KW - Swing-up

KW - MECHANICAL SYSTEMS

KW - INTERCONNECTION

U2 - 10.1016/j.sysconle.2016.04.004

DO - 10.1016/j.sysconle.2016.04.004

M3 - статья

VL - 94

SP - 11

EP - 18

JO - Systems and Control Letters

JF - Systems and Control Letters

SN - 0167-6911

ER -