Virtual Mechanical Systems: An Energy-Based Approach

Resumen: In this work, a class of virtual control systems associated to mechanical systems in the Euler-Lagrange (EL) and port-Hamiltonian (pH) energy-based frameworks is introduced, where the behavior of the original system is embedded into the dynamics of the virtual one. The construction of the virtual mechanical systems is based on the notion of virtual forces which are mathematical objects that behave like true forces. Remarkably, the virtual mechanical systems preserve the energy conservation properties of the original mechanical systems, e.g., passivity. Moreover, the aforementioned virtual forces exhibit coordinate-free properties in terms of the underlying geometry of the state space of the mechanical system.

¿Cómo citar?

Rodolfo Reyes-Báez, Pablo Borja, Arjan van der Schaft & Bayu Jayawardhana. Virtual Mechanical Systems: An Energy-Based Approach. Memorias del Congreso Nacional de Control Automático, pp. 465-470, 2019.

Palabras clave

Control de Sistemas No Lineales, Control basado en pasividad, Robótica y Mecatrónica

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