- Title
- Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances
- Creator
- Franco, Enrico; Arpenti, Pierluigi; Donaire, Alejandro
- Relation
- International Journal of Robust and Nonlinear Control Vol. 34, Issue 5, p. 3565-3585
- Publisher Link
- http://dx.doi.org/10.1002/rnc.7151
- Publisher
- Wiley
- Resource Type
- journal article
- Date
- 2023
- Description
- This work investigates the energy shaping control of a class of underactuated mechanical systems subject to state‐dependent linearly parameterized matched disturbances. To this end, a new integral interconnection and damping‐assignment passivity‐based design is proposed. The controller design is developed for systems subject to either momenta‐dependent disturbances or position‐dependent disturbances or to both simultaneously. The effectiveness of the proposed approach is demonstrated with numerical simulations on three examples: an Acrobot system with nonlinear friction; a ball‐on‐beam system with constant and position‐dependent disturbances; a disk‐on‐disk system with a complete set of state‐dependent disturbances. In all examples, the proposed controller shows better performance compared to previous implementations.
- Subject
- disturbances; energy shaping; integral action; nonlinear systems; underactuated mechanical systems
- Identifier
- http://hdl.handle.net/1959.13/1500577
- Identifier
- uon:54965
- Identifier
- ISSN:1049-8923
- Rights
- © 2023 The Authors. International Journal of Robust and Nonlinear Control published by John Wiley & Sons Ltd. This is an open access article under the terms of the Creative Commons Attribution License (https://creativecommons.org/licenses/by/4.0/), which permits use, distribution and reproduction in any medium, provided the original work is properly cited.
- Language
- eng
- Full Text
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