TY - JOUR A1 - Salamat, Babak A1 - Yaghmaei, Abolfazl A1 - Elsbacher, Gerhard A1 - Tonello, Andrea M. A1 - Yazdanpanah, Mohammad Javad T1 - An Innovative Control Design Procedure for Under-Actuated Mechanical Systems: Emphasizing Potential Energy Shaping and Structural Preservation JF - IEEE Open Journal of Control Systems N2 - In this paper, we propose a procedure to solve the controlled design for a class of underactuated mechanical systems. Our proposed method can be viewed as a sub-method of the IDA-PBC or Controlled Lagrangian approaches, with a particular focus on shaping the potential energy. By emphasizing potential energy shaping, we can effectively tackle the bottleneck presented by the matching equation in these approaches. Moreover, our method leverages a suitable coordinate transformation that is inspired by the physics of the system, further enhancing its efficacy. Therefore, our design procedure is based on a coordinate transformation plus potential energy shaping in the new coordinates, and its existence and possibility of potential energy shaping can be verified via some algebraic calculations, making it constructive. To illustrate the results, we consider the cart-pole system and a recently introduced underactuated mechanical system named swash mass pendulum (SMP) [1]. The SMP consists of a pendulum made of a rigid shaft connected to a pair of cross-shafts where two swash masses can move under the action of servo-mechanisms. UR - https://doi.org/10.1109/OJCSYS.2023.3320512 KW - Controller design KW - under-actuated mechanical systems KW - Euler-Lagrange dynamics KW - potential matching equation Y1 - 2023 UR - https://doi.org/10.1109/OJCSYS.2023.3320512 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-40295 SN - 2694-085X VL - 2 SP - 356 EP - 365 PB - IEEE CY - New York ER -