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Energy Shaping Control for a Class of Underactuated Euler-Lagrange Systems

Albu-Schäffer, Alin and Ott, Christian and Petit, Florian (2012) Energy Shaping Control for a Class of Underactuated Euler-Lagrange Systems. SYROCO 12, 5.-7. - Sept 2012, Dubrovnik.

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Abstract

The paper presents a new energy shaping control design for a class of underactuated Euler-Lagrange systems. Flexible joint robots, Series Elastic Actuators, and Variable Impedance Actuated Robots Albu-Schäffer et al. [2008] belong for example to this class. First, classical PD control with feed-forward compensation is revisited and a novel, straight-forward and general formulation for the stability analysis is given. Lower bound conditions for the gains of this controller motivate the introduction of the new approach, which generalizes results from Albu-Schäffer et al. [2007], Ch. Ott et al. [2008]. For shaping the potential energy, feedback variables based on the collocated states are introduced, which are statically equivalent to the noncollocated state variables. In this way the passivity is ensured while exactly satisfying steady state requirements formulated in terms of the noncollocated states (such as desired equilibrium confguration and desired stiffness). Using the passivity property, a Lyapunov based analysis can be easily carried out for arbitrarily low feedback gains. The controller is augmented by noncollocated feedback to shape the kinetic energy. Experimental results for a Variable Stiffness Robot Grebenstein et al. [2011] validate the proposed controller.

Item URL in elib:https://elib.dlr.de/79899/
Document Type:Conference or Workshop Item (Speech)
Title:Energy Shaping Control for a Class of Underactuated Euler-Lagrange Systems
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.deUNSPECIFIED
Ott, Christianchristian.ott (at) dlr.deUNSPECIFIED
Petit, Florianflorian.petit (at) dlr.deUNSPECIFIED
Date:2012
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Flexible joints, underactuated systems, variable impedance actuation, impedance control
Event Title:SYROCO 12
Event Location:Dubrovnik
Event Type:international Conference
Event Dates:5.-7. - Sept 2012
Organizer:IFAC
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Petit, Florian
Deposited On:11 Jan 2013 14:53
Last Modified:31 Jul 2019 19:39

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  • Energy Shaping Control for a Class of Underactuated Euler-Lagrange Systems. (deposited 11 Jan 2013 14:53) [Currently Displayed]

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