Robustifying energy shaping control of mechanical systems

2012 ◽  
Author(s):  
Jose Guadalupe Romero ◽  
Alejandro Donaire ◽  
Romeo Ortega
Keyword(s):  
Mechanical Systems ◽  
Energy Shaping

Simplifying Robust Energy Shaping Controllers for Mechanical Systems via Coordinate Changes

2012 ◽  
Vol 45 (19) ◽  
pp. 60-65 ◽  
Author(s):  
Jose Guadalupe Romero ◽  
Alejandro Donaire ◽  
Romeo Ortega
Keyword(s):  
Mechanical Systems ◽  
Energy Shaping ◽  
Coordinate Changes

Synchronization Control for a Class of Underactuated Mechanical Systems via Energy Shaping

2012 ◽  
Vol 134 (4) ◽  
Author(s):  
Dongfang Zhu ◽  
Di Zhou ◽  
Jingyang Zhou ◽  
Kok Lay Teo
Keyword(s):  
Control System ◽  
Mechanical Systems ◽  
Synchronization Control ◽  
Underactuated Mechanical Systems ◽  
Tracking Errors ◽  
Energy Shaping ◽  
Synchronization Errors ◽  
Shaping Technique ◽  
Passivity Based Control ◽  
Control Methodology

A synchronization control strategy for a class of underactuated mechanical systems is proposed by using the energy shaping technique, aiming to achieve the required performance of the synchronization motion. A synchronization controller is designed based on the interconnection and damping assignment passivity-based control methodology. It will guarantee that the position tracking errors and the synchronization errors of the underactuated mechanical systems are to converge to zero asymptotically. Experiments on a synchronization control system with two single-inverted pendulums as well as simulations of a synchronization control system consisting of four ball-beam devices are presented to demonstrate the effectiveness of the proposed method.

Energy Shaping Methods for Asymptotic Force Regulation of Compliant Mechanical Systems

2014 ◽  
Vol 22 (6) ◽  
pp. 2376-2383 ◽  
Author(s):  
David Navarro-Alarcon ◽  
Yun-Hui Liu ◽  
Jose Guadalupe Romero ◽  
Peng Li
Keyword(s):  
Mechanical Systems ◽  
Energy Shaping

On the matching equations of energy shaping controllers for mechanical systems

2015 ◽  
Vol 88 (9) ◽  
pp. 1757-1765 ◽  
Author(s):  
N. Crasta ◽  
Romeo Ortega ◽  
Harish K. Pillai
Keyword(s):  
Mechanical Systems ◽  
Energy Shaping

Total Energy Shaping for Underactuated Mechanical Systems

2001 ◽  
Vol 34 (6) ◽  
pp. 1135-1140
Author(s):  
Fabio Gómez-Estern ◽  
Romeo Ortega ◽  
Mark W. Spong
Keyword(s):  
Total Energy ◽  
Mechanical Systems ◽  
Underactuated Mechanical Systems ◽  
Energy Shaping
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