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.
Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances / Franco, Enrico; Arpenti, Pierluigi; Donaire, Alejandro; Ruggiero, Fabio. - In: IEEE CONTROL SYSTEMS LETTERS. - ISSN 2475-1456. - (2024), pp. 1-1. [10.1109/lcsys.2024.3399474]
Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances
Arpenti, Pierluigi;Ruggiero, Fabio
2024
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.| File | Dimensione | Formato | |
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