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A passivity-based control of Euler-Lagrange systems with a non-quadratic Lagrangian
Ist Teil von
Zeitschrift für angewandte Mathematik und Mechanik, 2008-12, Vol.88 (12), p.982-992
Ort / Verlag
Berlin: WILEY-VCH Verlag
Erscheinungsjahr
2008
Link zum Volltext
Quelle
Wiley-Blackwell Journals
Beschreibungen/Notizen
In this paper, the classical augmented PD control method is extended to a passivity‐based control of Euler‐Lagrange systems with a non‐quadratic Lagrangian. It is assumed that the systems are fully actuated. The problem is treated with two geometrically different approaches. The first approach is dealing with state space control in the configuration space by introducing the kinetic energy via the Legendre transformation of the kinetic co‐energy. The second approach considers the system's dynamics in the event space endowed with a Finsler metric based on the kinetic co‐energy. It is shown that the control laws of both approaches achieve uniformly asymptotically stable trajectory tracking.
In this paper, the classical augmented PD control method is extended to a passivity‐based control of Euler‐Lagrange systems with a non‐quadratic Lagrangian. It is assumed that the systems are fully actuated. The problem is treated with two geometrically different approaches. The first approach is dealing with state space control in the configuration space by introducing the kinetic energy via the Legendre transformation of the kinetic co‐energy. The second approach considers the system's dynamics in the event space endowed with a Finsler metric based on the kinetic co‐energy. It is shown that the control laws of both approaches achieve uniformly asymptotically stable trajectory tracking.