{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/total-energy-shaping-control-for-mechanical","title":"Total energy-shaping control for mechanical systems via Control-by-Interconnection","arxiv_id":"2301.03746","date":"2023-01-10","proceeding":null,"authors":["Joel Ferguson"],"abstract":"Application of IDA-PBC to mechanical systems has received much attention in recent decades, but its application is still limited by the solvability of the so-called matching conditions. In this work, it is shown that total energy-shaping control of under-actuated mechanical systems has a control-by-interconnection interpretation. Using this interpretation, alternate matching conditions are formulated that defines constraints on the added energy, rather then the total closed-loop energy. It is additionally shown that, for systems that are under-actuated degree one with the mass matrix depending on a single coordinate, the kinetic energy matching conditions resolve to ODEs which can be evaluated numerically. Using this approach controllers are proposed for the benchmark cart-pole and acrobot systems.","url_abs":"https://arxiv.org/abs/2301.03746v2","url_pdf":"https://arxiv.org/pdf/2301.03746v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"total-energy-shaping-control-for-mechanical","repo_url":"https://github.com/joelferguson/underactuated_mechanical_cbi","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"acrobot","task_name":"Acrobot"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}