Position-feedback integral IDA-PBC for constant matched and unmatched disturbances
Author(s)
Franco, Enrico
Ryalat, Mutaz
Type
Journal Article
Abstract
This work investigates the passivity-based control of a class of underactuated mechanical systems subject to constant matched and unmatched disturbances, for which the momenta are not measured. The main contribution is a new design of the integral interconnection-and-damping assignment passivity-based control that only relies on position feedback. Numerical simulations on a disk-on-disk system, on an Acrobot system, and on a rigid-link model representative of a soft continuum manipulator demonstrate the effectiveness of the new controller.
Date Issued
2025-06-01
Date Acceptance
2025-01-24
Citation
International Journal of Robust and Nonlinear Control, 2025, 35 (9), pp.3623-3639
ISSN
1049-8923
Publisher
Wiley
Start Page
3623
End Page
3639
Journal / Book Title
International Journal of Robust and Nonlinear Control
Volume
35
Issue
9
Copyright Statement
© 2025 The Author(s). International Journal of Robust and Nonlinear Control published by John Wiley & Sons Ltd. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.
License URL
Identifier
10.1002/rnc.7870
Subjects
constant disturbances | energy shaping | momentum observer | nonlinear systems | port-Hamiltonian systems | underactuated mechanical systems IDA-PBC
interconnection and damping assignment passivity-based control; PDEs
partial differential equations
Publication Status
Published
Date Publish Online
2025-02-12