Dynamic tube-MPC for underactuated mechanical systems with matched and unmatched disturbances
File(s)
Accepted version
Author(s)
Bastos, Guaraci
Franco, Enrico
Type
Journal Article
Abstract
This letter investigates the trajectory tracking problem for a class of underactuated mechanical systems subject to matched and unmatched time-varying disturbances. To this end, a new dynamic tube-Model Predictive Control is proposed which includes a new tube dynamics and a new ancillary control constructed with an energy-shaping approach. Simulation results on a two-links model representative of a soft manipulator with disturbances demonstrate the effectiveness of the new controller.
Date Issued
2025-01-01
Date Acceptance
2025-05-02
Citation
IEEE Control Systems Letters, 2025, 9, pp.151-161
ISSN
2475-1456
Publisher
Institute of Electrical and Electronics Engineers
Start Page
151
End Page
161
Journal / Book Title
IEEE Control Systems Letters
Volume
9
Copyright Statement
Copyright © 2025 IEEE. This is the author’s accepted manuscript made available under a CC-BY licence in accordance with Imperial’s Research Publications Open Access policy (www.imperial.ac.uk/oa-policy)
License URL
Publication Status
Published
Date Publish Online
2025-05-05