Abstract
Stabilization of underactuated systems is a challenging problem especially when external disturbance is applied and the actuators are limited. Interconnection and damping assignment passivity-based control (IDA-PBC) is an approach to regulate the systems represented by port Hamiltonian modeling such as underactuated robots while its application is restricted by some PDEs. In this paper, IDA-PBC is implemented on a spatial3-DOF underactuated cable driven manipulator. A robust term with respect to bounded matched disturbance is designed, non-negative tension in cables by appropriate desired potential energy is considered and stability of the system is ensured by a Lyapunov candidate. simulation results illustrate the effectiveness of the proposed controller.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
