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- Title
Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances.
- Authors
Franco, Enrico; Arpenti, Pierluigi; Donaire, Alejandro
- Abstract
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.
- Subjects
PASSIVITY-based control; NONLINEAR systems; INTEGRALS; COMPUTER simulation
- Publication
International Journal of Robust & Nonlinear Control, 2024, Vol 34, Issue 5, p3565
- ISSN
1049-8923
- Publication type
Article
- DOI
10.1002/rnc.7151