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Reformulation of Matching Equation in Potential Energy Shaping
Interconnection and damping assignment passivity-based control is an approach based on total energy shaping by assigning desired kinetic and potential energy to the system.
Bounded Inputs Total Energy Shaping for Mechanical Systems
However, actuator saturation is typically neglected in the design of control systems, with compensation being made in the form of over-designing the actuator or by post-analyzing the resulting system to ensure acceptable performance.
On the Matching Equations of Kinetic Energy Shaping in IDA-PBC
Finding a suitable desired inertia matrix as the solution of nonlinear PDEs related to kinetic energy shaping is a challenging problem.
Solution of matching equations of IDA-PBC by Pfaffian differential equations
Finding the general solution of partial differential equations (PDEs) is essential for controller design in newly developed methods.
