Interconection and damping assignment control of the subactuated tora mechanical system

Abstract:

The TORA system (translational oscillator with rotational actuator) is a benmarch subactuated mechanical system who has attracted great attention of the non-linear control scientific community. In this paper, beginning with the Port Controlled Hamiltonian representation, founded in the total energy of the system considered as kinetic plus potential energy, and based in the use of the interconnection and damping assignment methodology of control, a controller is obtained that achieves the goal of to stabilize global and asymptotically the equilibrium point, with an excellent performance. Numerical simulations at the end of the work confirm the theoretic results.

Año de publicación:

2020

Keywords:

• TORA system
• Subactuated mechanical systems
• IDA-PBC method
• Passivity based control
• Nonlinear control

Fuente:

scopus