Robust IDA-PBC for under-actuated systems with inertia matrix dependent of the unactuated coordinates: application to a UAV carrying a load

被引:27
作者
Guerrero-Sanchez, M. E. [1 ]
Hernandez-Gonzalez, O. [1 ]
Valencia-Palomo, G. [2 ]
Mercado-Ravell, D. A. [3 ]
Lopez-Estrada, F. R. [4 ]
Hoyo-Montano, J. A. [2 ]
机构
[1] Tecnol Nacl Mexico IT Hermosillo, Catedras Conacyt, Ave Tecnol & Poniente S-N, Hermosillo 83170, Sonora, Mexico
[2] Tecnol Nacl Mexico IT Hermosillo, Ave Tecnol & Poniente S-N, Hermosillo 83170, Sonora, Mexico
[3] Ctr Res Math CIMAT AC, Catedras Conacyt, Campus Zacatecas, Zacatecas 98160, Zacatecas, Mexico
[4] Tecnol Nacl Mexico IT Tuxtla Gutierrez, TURIX Dynam Diag & Control Grp, Cart Panam Km 1080, Tuxtla Gutierrez 29050, Mexico
关键词
Robust nonlinear control; Robust passivity based control; Disturbance rejection; Underactuated systems; UAV load transportation; PASSIVITY-BASED CONTROL; MECHANICAL SYSTEMS; INTEGRAL CONTROL; INTERCONNECTION; UNCERTAINTIES;
D O I
10.1007/s11071-021-06776-7
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
This paper presents a methodology to solve the problem of robustification of Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) scheme for the case of under-actuated systems with inertia matrix dependent of the unactuated coordinates. Specifically, we analyze the robustness of the IDA-PBC strategy with respect to constant external disturbances. This algorithm requires adding an integral action with a particular change of coordinates in an outer-loop to the IDA-PBC strategy to reject constant external disturbances. The asymptotic stability of the proposed controller despite constant external disturbances is proved using the closed-loop Hamiltonian as a Lyapunov candidate function and LaSalle's invariance principle. Finally, as a proof of concept, we have applied the proposed robust IDA-PBC strategy to an Unmanned Aerial vehicle that transports a payload suspended by a cable, which is a class of underactuated system with inertia matrix dependent of the unactuated coordinate. Satisfactory results in numerical experiments demonstrate the applicability of the method.
引用
收藏
页码:3225 / 3238
页数:14
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