Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances
Enrico Franco, Pierluigi Arpenti, Alejandro Donaire, Fabio Ruggiero
Abstract
This work presents a new formulation of the integral interconnection and damping-assignment passivity-based control methodology for underactuated mechanical systems subject to both matched and unmatched disturbances, either constant or position-dependent. The new controller is also applicable to systems with non-constant input matrix. Simulations results on two examples demonstrate its effectiveness.
Topics & Concepts
PassivityInterconnectionUnderactuationConstant (computer programming)Control theory (sociology)Controller (irrigation)Computer scienceWork (physics)Mechanical systemPosition (finance)Matrix (chemical analysis)Control engineeringMathematicsControl (management)EngineeringArtificial intelligenceTelecommunicationsMechanical engineeringComposite materialBiologyMaterials scienceEconomicsAgronomyProgramming languageElectrical engineeringFinanceControl and Stability of Dynamical SystemsDynamics and Control of Mechanical SystemsAdaptive Control of Nonlinear Systems