Passivity-based control of underactuated systems with non-integrable state-dependent matched disturbances
File(s)
Accepted version
Author(s)
Franco, Enrico
Type
Journal Article
Abstract
This work investigates the passivity-based control of a class of underactuated mechanical systems subject to matched disturbances that enter the dynamics through a state-dependent vector-valued function that is not integrable. The main contributions include a new passivity-based controller with a dynamic extension, designed with the port-Hamiltonian formalism, and, most importantly, a suitably defined function of the states, serving the purpose of estimating the disturbance parameters while circumventing the usual integrability assumption. A corresponding controller is designed with the Lagrangian formalism, and key differences are discussed. Numerical simulations on two examples demonstrate the effectiveness of the new controllers.
Date Acceptance
2026-02-07
Citation
European Journal of Control
ISSN
0947-3580
Publisher
Elsevier
Journal / Book Title
European Journal of Control
Copyright Statement
Copyright © 2026 Copyright Owner. 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
10.1016/j.ejcon.2026.101473
Publication Status
Accepted
Article Number
101473
Date Publish Online
2026-02-10