Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances

被引：2

作者：

Franco, Enrico ^{[1
]}

Arpenti, Pierluigi ^{[2
]}

Donaire, Alejandro ^{[3
]}

Ruggiero, Fabio ^{[2
]}

机构：

[1] Imperial Coll London, Mech Engn Dept, London SW7 2AZ, England

[2] Univ Naples Federico II, Dept Elect Engn & Informat Technol, PRISMA Lab, I-80125 Naples, Italy

[3] Univ Newcastle, Sch Engn, Callaghan, NSW 2308, Australia

来源：

IEEE CONTROL SYSTEMS LETTERS | 2024年 / 8卷

基金：

英国工程与自然科学研究理事会;

关键词：

Mechanical systems; Damping; Vectors; Potential energy; Integral equations; Trajectory; Regulation; Uncertain systems; robust adaptive control; control applications; PASSIVITY-BASED CONTROL; INTERCONNECTION; STABILIZATION;

D O I：

10.1109/LCSYS.2024.3399474

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This letter 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.

引用

页码：568 / 573

页数：6

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