Abstract

Finding the general solution of partial differential equations (PDEs) is essential for controller design in newly developed methods. Interconnection and damping assignment passivity-based control (IDA-PBC) is one of such methods in which the solution to corresponding PDEs which are called matching equations is needed to apply it in practice. In this paper, these matching equations are transformed to corresponding Pfaffian differential equations. Furthermore, it is shown that upon satisfaction of the integrability condition, the solution to the corresponding third-order Pfaffian differential equation may be obtained quite easily. The method is applied to the PDEs of IDA-PBC in some benchmark systems such as Magnetic levitation system, Pendubot, and underactuated cable-driven robot to verify its applicability.

Full Text
Published version (Free)

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 call