Integral passivity-based control of underactuated mechanical systems with hysteretic elasticity
File(s)
Accepted version
Author(s)
Franco, Enrico
Shakib, Fahim
Chen, kaiwen
Type
Journal Article
Abstract
This work investigates the passivity-based control of underactuated mechanical systems subject to matched disturbances described by the Bouc-Wen model. This model is widely used to characterize the nonlinear hysteretic elasticity observed in mechanical systems, and it does so by employing an internal state that is not measured. A new implementation of the integral interconnection and damping-assignment passivity-based control is presented for this specific scenario, and simulations on a ball-on-beam system demonstrate its effectiveness.
Date Issued
2026-04-13
Date Acceptance
2026-04-06
Citation
IEEE Control Systems Letters, 2026, 10, pp.259-264
ISSN
2475-1456
Publisher
Institute of Electrical and Electronics Engineers
Start Page
259
End Page
264
Journal / Book Title
IEEE Control Systems Letters
Volume
10
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
Publication Status
Published
Date Publish Online
2026-04-13