Control for a three-joint underactuated planar manipulator - Interconnection and damping assignment passivity-based control approach

Abstract

Passivity-based control of port-Hamiltonian (PH) systems has been investigated as one of powerful control techniques for nonlinear physical systems [1]. Recently, it has become known that some underactuated mechanical systems, i.e. systems with less degrees of freedom than the number of generalized coordinates, can be controlled in this frame-work [2, 3]. This control method is practicable since it is expected that passivity will provide the robust stable closed loop [4, 5]. However, addressing the subject of underactuated manipulator, there is only an application to Acrobot [6]. © Springer-Verlag London Limited 2007.