Interconnection and damping assignment passivity-based control (IDA-PBC) provides a general framework to stabilize underactuated mechanical systems by assigning the desired Hamiltonian to the system, which is obtained from the solution of partial differential equations. In this article, the IDA-PBC method is applied to an underactuated cable-driven robot to stabilize out-of-plane motion of the system. An adaptation law for the system's mass is designed such that asymptotic stability is ensured with positive tension in cables through the direct Lyapunov method. The results are verified through some simulations.

中文翻译：

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欠驱动电缆驱动机器人的自适应互连和阻尼分配被动控制

互连和阻尼分配基于无源控制 (IDA-PBC) 提供了一个通用框架，通过为系统分配所需的哈密顿量来稳定欠驱动机械系统，该系统是从偏微分方程的解中获得的。在本文中，IDA-PBC 方法应用于欠驱动电缆驱动机器人以稳定系统的平面外运动。系统质量的适应律被设计为通过直接李雅普诺夫方法在索中的正张力下确保渐近稳定性。通过一些模拟验证了结果。