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- W4315705861 abstract "Application of IDA-PBC to mechanical systems has received much attention in recent decades, but its application is still limited by the solvability of the so-called matching conditions. In this work, it is shown that total energy-shaping control of under-actuated mechanical systems has a control-by-interconnection interpretation. Using this interpretation, alternate matching conditions are formulated that defines constraints on the added energy, rather then the total closed-loop energy. It is additionally shown that, for systems that are under-actuated degree one with the mass matrix depending on a single coordinate, the kinetic energy matching conditions resolve to ODEs which can be evaluated numerically. Using this approach controllers are proposed for the benchmark cart-pole and acrobot systems." @default.
- W4315705861 created "2023-01-12" @default.
- W4315705861 creator A5090252727 @default.
- W4315705861 date "2023-01-09" @default.
- W4315705861 modified "2023-09-26" @default.
- W4315705861 title "Total energy-shaping control for mechanical systems via Control-by-Interconnection" @default.
- W4315705861 doi "https://doi.org/10.48550/arxiv.2301.03746" @default.
- W4315705861 hasPublicationYear "2023" @default.
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