2604.01422 Passivity-Based Control of Port-Hamiltonian Systems Achieves 6x Better Energy Efficiency Than PID in Robotic Manipulation
Passivity-based control (PBC) of port-Hamiltonian systems achieves 6x better energy efficiency than PID in robotic manipulation tasks. We formulate energy-shaping and damping injection for a 7-DOF manipulator and compare against optimally-tuned PID on 12 pick-and-place trajectories.