Energy shaping dynamic tube-MPC for underactuated mechanical systems
File(s)
Accepted version
Author(s)
Bastos Jr., Guaraci
Franco, Enrico
Type
Journal Article
Abstract
This work investigates the tracking control problem for underactuated mechanical systems. To this end, we develop an extension of the dynamic tube Model Predictive Control (MPC) approach by combining an MPC design, an ancillary energy shaping controller constructed with the Interconnection and Damping Assignment Passivity-Based Control methodology, and an analytical expression of the dynamic tube. In addition, we extend the proposed approach by including the adaptive compensation of a class of unknown disturbances. The stability analysis is presented by employing a Lyapunov approach. The effectiveness of the proposed controller is demonstrated with simulations on two underactuated systems: a two-mass-spring-damper system with uncertain damping and either linear or nonlinear spring; an inertia-wheel-pendulum with unmodeled disturbances.
Date Issued
2021-09-11
Date Acceptance
2021-08-22
Citation
Nonlinear Dynamics, 2021, 106, pp.359-380
ISSN
0924-090X
Publisher
Springer
Start Page
359
End Page
380
Journal / Book Title
Nonlinear Dynamics
Volume
106
Copyright Statement
© 2021, The Author(s), under exclusive licence to Springer Nature B.V. The final publication is available at Springer via https://link.springer.com/article/10.1007%2Fs11071-021-06863-9
Sponsor
Engineering & Physical Science Research Council (EPSRC)
Engineering & Physical Science Research Council (E
Identifier
https://link.springer.com/article/10.1007%2Fs11071-021-06863-9
Grant Number
EP/R009708/1
EP/R511547/1
Subjects
Science & Technology
Technology
Engineering, Mechanical
Mechanics
Engineering
Underactuated systems
Port-Hamiltonian systems
Robust control
IDA-PBC
Dynamic tube-MPC
MODEL-PREDICTIVE CONTROL
TIME ITERATION SCHEME
ADAPTIVE-CONTROL
OPEN-LOOP
ROBUST
OPTIMIZATION
STABILITY
STABILIZATION
INVARIANCE
IMMERSION
01 Mathematical Sciences
09 Engineering
Acoustics
Publication Status
Published
Date Publish Online
2021-09-11