Integral IDA-PBC of Underactuated Mechanical Systems with Actuator Dynamics and Uncertain Coupling

Enrico Franco; Pablo Borja

doi:10.1016/j.ifacol.2024.08.250

Integral IDA-PBC of Underactuated Mechanical Systems with Actuator Dynamics and Uncertain Coupling

Enrico Franco^*, Pablo Borja

^*Corresponding author for this work

Imperial College London

Research output: Contribution to journal › Conference proceedings published in a journal › peer-review

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Abstract

This work investigates the passivity-based control of a class of underactuated mechanical systems with first-order actuator dynamics and constant but uncertain coupling. The main contribution is a new dynamic extension of the interconnection-and-damping-assignment passivity-based control methodology that compensates for the effect of the model uncertainty. The effectiveness of the controller is demonstrated with numerical simulations on a ball-on-beam system.

Original language	English
Pages (from-to)	19-24
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	58
Issue number	6
Early online date	25 Sept 2024
DOIs	https://doi.org/10.1016/j.ifacol.2024.08.250
Publication status	E-pub ahead of print - 25 Sept 2024
Event	8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNC 2024 - Besancon, France Duration: 10 Jun 2024 → 12 Jun 2024

ASJC Scopus subject areas

Control and Systems Engineering

Keywords

disturbances
integral action
nonlinear systems
Passivity-based control

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10.1016/j.ifacol.2024.08.250

1-s2.0-S2405896324009923-mainFinal published version, 936 KBLicence: CC BY-NC-ND

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AB - This work investigates the passivity-based control of a class of underactuated mechanical systems with first-order actuator dynamics and constant but uncertain coupling. The main contribution is a new dynamic extension of the interconnection-and-damping-assignment passivity-based control methodology that compensates for the effect of the model uncertainty. The effectiveness of the controller is demonstrated with numerical simulations on a ball-on-beam system.

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KW - integral action

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Integral IDA-PBC of Underactuated Mechanical Systems with Actuator Dynamics and Uncertain Coupling

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ASJC Scopus subject areas

Keywords

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