Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances

Title: Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances
Creator: Donaire, Alejandro; Romero, Jose Guadalupe; Ortega, Romeo; Siciliano, Bruno
Relation: 2016 American Control Conference (ACC). Proceedings of the 2016 American Control Conference (Boston, MA 6-8 July, 2016) p. 6598-6603
Publisher Link: http://dx.doi.org/10.1109/ACC.2016.7526709
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: conference paper
Date: 2016
Description: The problem of robustification of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) for underactuated mechanical system vis-à-vis matched, constant, unknown disturbances is addressed in the paper. This is achieved adding an outer-loop controller to the IDA-PBC. Three designs are proposed, with the first one being a simple nonlinear PI, while the second and the third ones are nonlinear PIDs. While all controllers ensure stability of the desired equilibrium in spite of the presence of the disturbances, the inclusion of the derivative term allows us to inject further damping enlarging the class of systems for which asymptotic stability is ensured.
Subject: mechanical systems; asymptotic stability; robustness; damping; electronic mail; kinetic energy; standards
Identifier: http://hdl.handle.net/1959.13/1326049
Identifier: uon:25353
Identifier: ISBN:9781467386821
Language: eng
Reviewed

		Thumbnail	File	Description	Size	Format