Title :
Constrained stabilization of a cart on an asymmetric-beam system through IDA-PBC
Author :
Mahindrakar, Arun D. ; Acosta, J.A. ; Ortega, Romeo
Author_Institution :
Dept. of Electr. Eng., Indian Inst. of Technol. Madras, Chennai, India
Abstract :
The problem of asymptotic stabilization of the cart on an asymmetric-beam system (CaB) is addressed and solved. This system captures the essential features of state-constrained stabilization while being underactuated. The control problem is solved through the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) methodology. It is noticeable that considering the asymmetry of the beam makes the system quite challenging to be solved since, the solution with a constant inertia matrix reported so far is no longer valid. The performance of the control law is demonstrated through simulations.
Keywords :
asymptotic stability; beams (structures); damping; interconnected systems; matrix algebra; CaB; IDA-PBC methodology; asymptotic stabilization problem; beam asymmetry; cart-on-an-asymmetric-beam system; control law performance analysis; control problem; interconnection-and-damping assignment passivity-based control methodology; state-constrained stabilization; underactuated system; Damping; Dynamics; Equations; Kinetic theory; Lyapunov methods; Mechanical systems; Cart on a beam; energy-based control; passivity; underactuated;
Conference_Titel :
Control Applications (CCA), 2014 IEEE Conference on
Conference_Location :
Juan Les Antibes
DOI :
10.1109/CCA.2014.6981499
