Integral IDA-PBC for underactuated mechanical systems with unmeasured actuator dynamics and time-varying matched disturbances
File(s)
Published version
Author(s)
Franco, Enrico
Chen, Kaiwen
Type
Journal Article
Abstract
This work investigates the passivity-based control of a class of underactuated mechanical systems with unmeasured actuator states and subject to time-varying state-dependent matched disturbances. The main contribution is a new design of the integral interconnection-and-damping assignment passivity-based control that includes a state-dependent damping assignment and that employs a dynamic extension to reject the disturbances and to estimate the actuator states. Tuning guidelines for the controller parameters that guarantee the stability properties are provided. Numerical simulations on an inertia-wheel pendulum, a ball-on-beam system, and an Acrobot system demonstrate the effectiveness of the new controller.
Date Issued
2025-09-01
Date Acceptance
2025-05-24
Citation
European Journal of Control, 2025, 85
ISSN
0947-3580
Publisher
Elsevier
Journal / Book Title
European Journal of Control
Volume
85
Copyright Statement
© 2025 The Authors. Published by Elsevier Ltd on behalf of European Control Association. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).
License URL
Identifier
10.1016/j.ejcon.2025.101256
Publication Status
Published
Article Number
101256
Date Publish Online
2025-06-30