Title :
A nonlinear friction model for the passivity-based control of underactuated mechanical systems
Author :
Cornejo, Cecilia ; Alvarez-Icaza, Luis
Author_Institution :
Univ. Nacional Autonoma de Mexico, Mexico
Abstract :
Passivity-based control of underactuated mechanical systems with nonlinear friction effects is analyzed. The port-controlled-Hamiltonian equations of the mechanical system are extended by incorporating a novel dynamic friction model, whose internal states are included as generalized coordinates. The extended Hamiltonian model preserves passivity properties of the LuGre model for the velocity-force pair, with no extra conditions on the friction model parameters. Simulation results are presented for an underactuated double pendulum.
Keywords :
friction; nonlinear control systems; LuGre model; dynamic friction model; nonlinear friction model; passivity-based control; port-controlled-Hamiltonian equation; underactuated mechanical system; Control systems; Damping; Design methodology; Energy storage; Friction; Mechanical systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; USA Councils; interconnection and damping assignment; passivity-based control; port-controlled hamiltonian equations; underactuated systems;
Conference_Titel :
Decision and Control, 2007 46th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
978-1-4244-1497-0
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2007.4434974
