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EnglishThis paper presents the control of a translational oscillator with a rotational actuator (TORA) system, in full gravity, through the interconnection and damping assignment passivity-based control (IDA-PBC). The sought goal is to control the underactuated TORA system while reducing the complexity in solving the partial differential equations coming out from the so-called matching equations, which arise from the IDA-PBC. The performance of the designed controller is illustrated through numerical simulations.
| Titolo: | Control of the TORA System through the IDA-PBC without Explicit Solution of Matching Equations | |
| Autori: | ||
| Data di pubblicazione: | 2019 | |
| Abstract: | This paper presents the control of a translational oscillator with a rotational actuator (TORA) system, in full gravity, through the interconnection and damping assignment passivity-based control (IDA-PBC). The sought goal is to control the underactuated TORA system while reducing the complexity in solving the partial differential equations coming out from the so-called matching equations, which arise from the IDA-PBC. The performance of the designed controller is illustrated through numerical simulations. | |
| Handle: | http://hdl.handle.net/11588/756103 | |
| ISBN: | 978-1-5386-9245-5 | |
| Appare nelle tipologie: | 4.1 Articoli in Atti di convegno |
File in questo prodotto:
| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| IRC_2019.pdf | Documento in Pre-print |  | Open Access Visualizza/Apri |
http://hdl.handle.net/11588/756103
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