Integral IDA-PBC for underactuated mechanical systems subject to matched and unmatched disturbances
File(s)
Accepted version
Author(s)
Franco, Enrico
Arpenti, Pierluigi
Donaire, Alejandro
Ruggiero, Fabio
Type
Journal Article
Abstract
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.
Date Issued
2024-05-10
Date Acceptance
2024-05-06
Citation
IEEE Control Systems Letters, 2024, 8, pp.568-573
ISSN
2475-1456
Publisher
Institute of Electrical and Electronics Engineers
Start Page
568
End Page
573
Journal / Book Title
IEEE Control Systems Letters
Volume
8
Copyright Statement
Copyright © 2024 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
Identifier
https://ieeexplore.ieee.org/document/10529105
Publication Status
Published
Date Publish Online
2024-05-10