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- Title
An Adaptive Controller Based on Interconnection and Damping Assignment Passivity-Based Control for Underactuated Mechanical Systems: Application to the Ball and Beam System.
- Authors
Liu, Xiaoping; Shao, Huaizhi; Liu, Cungen; Li, Ning; Guo, Xinpeng; Zheng, Fei; Sun, Lijun
- Abstract
In this paper, an adaptive technology and the interconnection and damping assignment passivity-based control method are combined to solve the stabilization problem for underactuated mechanical systems with uncertainties (including matched and unmatched). These uncertainties include unknown friction coefficients and unknown terms in kinetic energy and potential energy. A novel adaptive interconnection and damping assignment passivity-based control scheme is proposed and an adaptive stabilization controller is designed to make the closed-loop system locally stable. Verification is conducted on the ball and beam system. The locally asymptotic stability is demonstrated using the LaSalle's invariance principle and approximate linearization. The effectiveness of the proposed control law is verified through numerical simulations.
- Subjects
PASSIVITY-based control; ADAPTIVE control systems; CLOSED loop systems; KINETIC energy; POTENTIAL energy; PROBLEM solving
- Publication
Actuators, 2023, Vol 12, Issue 11, p408
- ISSN
2076-0825
- Publication type
Article
- DOI
10.3390/act12110408