An Adaptive Controller Based on Interconnection and Damping Assignment Passivity-Based Control for Underactuated Mechanical Systems: Application to the Ball and Beam System

被引：0

作者：

Liu, Xiaoping ^{[1
]}

Shao, Huaizhi ^{[2
]}

Liu, Cungen ^{[2
]}

Li, Ning ^{[2
]}

Guo, Xinpeng ^{[3
]}

Zheng, Fei ^{[4
]}

Sun, Lijun ^{[5
]}

机构：

[1] Lakehead Univ, Fac Engn, Thunder Bay, ON P7B 5E1, Canada

[2] Shandong Jianzhu Univ, Sch Informat & Elect Engn, Jinan 250101, Peoples R China

[3] Shandong Telian Informat Technol Co Ltd, Jinan 250101, Peoples R China

[4] Shandong Marvelous Intelligent Technol Co Ltd, Jinan 250000, Peoples R China

[5] Henan Univ Technol, Coll Informat Sci & Engn, Zhengzhou 450001, Peoples R China

来源：

ACTUATORS | 2023年 / 12卷 / 11期

关键词：

underactuated mechanical systems; adaptive control; IDA-PBC; the ball and beam system; ROBUST IDA-PBC; CONTROLLED LAGRANGIANS; TRAJECTORY TRACKING; STABILIZATION;

D O I：

10.3390/act12110408

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, an adaptive technology and the interconnection and damping assignment passivity-based control method are combined to solve the stabilization problem for underactuated mechanical systems with uncertainties (including matched and unmatched). These uncertainties include unknown friction coefficients and unknown terms in kinetic energy and potential energy. A novel adaptive interconnection and damping assignment passivity-based control scheme is proposed and an adaptive stabilization controller is designed to make the closed-loop system locally stable. Verification is conducted on the ball and beam system. The locally asymptotic stability is demonstrated using the LaSalle's invariance principle and approximate linearization. The effectiveness of the proposed control law is verified through numerical simulations.

引用

页数：18

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