Energy-Based Control for a Class of Under-Actuated Mechanical Systems

In this paper we discuss an energy-based control method for a class of under-actuated mechanical systems. The control law is proposed and the convergence analysis is carried out based on Lyapunov stability theory. The conditions on the parameters in the control law such that the total energy of the controlled objects converge to the potential energy of their desired position are given. Under such convergence of the energy, simulation results are presented showing the performance of the systems.