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- W4387129583 abstract "In this paper, we propose a procedure to solve the controlled design for a class of underactuated mechanical systems. Our proposed method can be viewed as a sub-method of the IDA-PBC or Controlled Lagrangian approaches, with a particular focus on shaping the potential energy. By emphasizing potential energy shaping, we can effectively tackle the bottleneck presented by the matching equation in these approaches. Moreover, our method leverages a suitable coordinate transformation that is inspired by the physics of the system, further enhancing its efficacy. Therefore, our design procedure is based on a coordinate transformation plus potential energy shaping in the new coordinates, and its existence and possibility of potential energy shaping can be verified via some algebraic calculations, making it constructive. To illustrate the results, we consider the cart-pole system and a recently introduced underactuated mechanical system named swash mass pendulum (SMP) [1]. The SMP consists of a pendulum made of a rigid shaft connected to a pair of cross-shafts where two swash masses can move under the action of servo-mechanisms" @default.
- W4387129583 created "2023-09-29" @default.
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- W4387129583 date "2023-01-01" @default.
- W4387129583 modified "2023-10-18" @default.
- W4387129583 title "An Innovative Control Design Procedure for Under-Actuated Mechanical Systems: Emphasizing Potential Energy Shaping and Structural Preservation" @default.
- W4387129583 doi "https://doi.org/10.1109/ojcsys.2023.3320512" @default.
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