Passivity-based control with state observer for a class of underactuated mechanical systems with series-elastic actuator
File(s)
Published version
Author(s)
Franco, Enrico
Type
Conference Paper
Abstract
This work investigates the passivity-based control of a class of underactuated mechanical systems with series-elastic actuator for which the actuator states are not measured. The main contribution is a new design of the integral interconnection-and-damping assignment passivity-based control that employs a dynamic extension to estimate the actuator states. Numerical simulations demonstrate the effectiveness of the new controller.
Date Issued
2025-11-17
Date Acceptance
2025-11-01
Citation
IFAC papers online, 2025, 59 (19), pp.484-489
ISSN
1474-6670
Publisher
Elsevier
Start Page
484
End Page
489
Journal / Book Title
IFAC papers online
Volume
59
Issue
19
Copyright Statement
© 2025 The Authors. This is an open access article under the CC BY-NC-ND license. Peer review under responsibility of International Federation of Automatic Control
Identifier
10.1016/j.ifacol.2025.11.081
Source
13th IFAC Symposium on Nonlinear Control Systems NOLCOS 2025:
Subjects
Passivity-based control
integral action
actuator dynamics
nonlinear systems Passivity-based control
integral action
actuator dynamics
nonlinear systems Passivity-based control
integral action
actuator dynamics
nonlinear systems Passivity-based control
integral action
actuator dynamics
nonlinear systems Passivity-based control
integral action
actuator dynamics
nonlinear systems Passivity-based control
integral action
actuator dynamics
nonlinear systems
Publication Status
Published
Start Date
2025-07-23
Finish Date
2025-07-25
Coverage Spatial
Reykjavik, Iceland
Date Publish Online
2025-11-17