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Constrained stabilization of a cart on an asymmetric-beam system through IDA-PBC
Published in Institute of Electrical and Electronics Engineers Inc.
2014
Pages: 1244 - 1248
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makes the system quite challenging to be solved since, the solution with a constant inertia matrix reported so far is no longer valid.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. © 2014 IEEE.
About the journal
JournalData powered by Typeset2014 IEEE Conference on Control Applications, CCA 2014
PublisherData powered by TypesetInstitute of Electrical and Electronics Engineers Inc.
Open AccessNo
Concepts (9)
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    Asymptotic stabilization
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    CART ON A BEAM
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    Energy-based control
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    Essential features
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    Interconnection and damping assignment
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    Passivity
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    Passivity based control
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    Underactuated
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    Stabilization