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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Dong Eui Chang |
| Copyright Year | 2010 |
| Description | Author affiliation: Applied Mathematics, University of Waterloo, ON, N2L 3G1, Canada (Dong Eui Chang) |
| Abstract | We generalize and strengthen the method of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) for the stabilization of mechanical systems. First, we replace the skew symmetry property of the interconnection matrix with the energy conservation property, and introduce a gyroscopic force replacing the interconnection sub-matrix that is usually denoted by J2. Second, we derive a new set of matching conditions where the new kinetic matching conditions are simpler than those in the literature. Third, we provide a necessary and sufficient condition for Lyapunov/exponential stabilizability by IDA-PBC for the class of all linear mechanical systems. Last, we give a necessary and sufficient condition for Lyapunov/exponential stabilizability by IDA-PBC for the class of all mechanical systems with one degree of underactuation. These conditions are easy to verify without solving any PDE's. Our results comprehend and extend most results on IDA-PBC in the literature. |
| Starting Page | 226 |
| Ending Page | 230 |
| File Size | 269050 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781424480913 |
| e-ISBN | 9781424480920 |
| DOI | 10.1109/MED.2010.5547672 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-06-23 |
| Publisher Place | Morocco |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Damping State feedback Symmetric matrices Force Kinetic theory Mechanical systems |
| Content Type | Text |
| Resource Type | Article |
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