Energy shaping control of underactuated mechanical systems with fluidic actuation

Energy shaping is a remarkably effective control strategy which can be applied to wide range of systems, including underactuated mechanical systems. However, research in this area has generally neglected actuator dynamics. While often appropriate, it might result degraded performance the case fluidic actuation. In work we present some new results on energy for systems action mediated by pressurized ideal fluid. particular, introduce an extended multi-step and damping-assignment controller design procedure that builds upon Interconnection-and-damping-assignment Passivity-based-control methodology modular fashion account pressure dynamics Stability conditions are assessed with Lyapunov approach, effect disturbances discussed, redundant actuators illustrated. The proposed approach demonstrated numerical simulations modified version classical ball-on-beam example, employs two identical cylinders, either hydraulic or pneumatic, actuate beam.