A Passivity-Based Super-Twisting Controller for Mechanical Port-Hamiltonian Systems

In this work, we propose a passivity-based super-twisting controller for mechanical port-Hamiltonian systems. The authors have proposed a passivity-based sliding mode controller based on kinetic-potential energy shaping (KPES) which allows us to embed a subsystem whose dimension is the same as that...

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Bibliographic Details
Published in2024 SICE Festival with Annual Conference (SICE FES) pp. 957 - 962
Main Authors Masutani, Kohei, Sakata, Naoki, Fujimoto, Kenji, Maruta, Ichiro
Format Conference Proceeding
LanguageEnglish
Published The Society of Instrument and Control Engineers - SICE 27.08.2024
Subjects
Closed loop systems
Iron
Lyapunov methods
Mechanical Systems
Passivity-Based Control
Sliding mode control
Super-Twisting Algorithm
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Summary:In this work, we propose a passivity-based super-twisting controller for mechanical port-Hamiltonian systems. The authors have proposed a passivity-based sliding mode controller based on kinetic-potential energy shaping (KPES) which allows us to embed a subsystem whose dimension is the same as that of the input into the closed-loop system. This paper extends KPES to incorporate a higher-order subsystem in the closed-loop system, which enables us to obtain the subsystem that has the same structure as the super-twisting algorithm (STA). Passivity-based control provides a variety of Lyapunov function candidates for interconnected physical systems, while the STA achieves second-order sliding mode control. Therefore, the proposed method is expected to offer a way to integrate the two methods, passivity-based control and second-order sliding mode control, and to allow us to design sliding mode control systems with a variety of energy-based Lyapunov functions. The effectiveness of the proposed method is verified through a numerical example.