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- Title
Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances.
- Authors
Franco, Enrico
- Abstract
This work investigates the energy shaping control of a class of underactuated mechanical systems with first‐order actuator dynamics and subject to both matched and unmatched constant additive disturbances. To this end, a new nonlinear control law which includes two independent integral actions is presented. The controller design is outlined for systems with first‐order actuator dynamics, and also for systems with direct actuation. The effectiveness of the proposed approach is demonstrated with numerical simulations on an inertia wheel pendulum and on a ball‐on‐beam system, both actuated by electric DC motors and subject to constant disturbances.
- Subjects
PASSIVITY-based control; SYSTEM dynamics; ELECTRIC motors; INTEGRALS; ACTUATORS
- Publication
International Journal of Robust & Nonlinear Control, 2023, Vol 33, Issue 16, p10024
- ISSN
1049-8923
- Publication type
Article
- DOI
10.1002/rnc.6885