Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances

DOI10.1002/RNC.3615zbMath1369.93167OpenAlexW2491605582MaRDI QIDQ5348665

Martin Crespo, Alejandro Donaire, Romeo S. Ortega, Jose Guadalupe Romero, Bruno Siciliano

Publication date: 18 August 2017

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.3615

zbMATH Keywords

disturbance rejectionmechanical systemspassivity-based controlstabilization of nonlinear systems

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Stability of control systems (93D99)

Related Items (17)

Holonomic Rolling Nonprehensile Manipulation Primitive ⋮ Nonholonomic Rolling Nonprehensile Manipulation Primitive ⋮ Tackling mismatched uncertainty in robust constraint-following control of underactuated systems ⋮ Stabilization of a class of nonlinear underactuated mechanical systems with 2-DOF via immersion and invariance ⋮ Bounded inputs total energy shaping for a class of underactuated mechanical systems ⋮ Robust passivity‐based control design for active nonlinear suspension system ⋮ Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances ⋮ Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics ⋮ Energy shaping control of underactuated mechanical systems with fluidic actuation ⋮ Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances ⋮ Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments ⋮ Adaptive IDA‐PBC for underactuated mechanical systems with constant disturbances ⋮ On the matching equations of kinetic energy shaping in IDA-PBC ⋮ Adaptive interconnection and damping assignment passivity-based control for an underactuated cable-driven robot ⋮ Passivity-Based Control Design and Experiments for a Rolling-Balancing System ⋮ Interconnection and damping assignment passivity-based control of an underactuated 2-DOF gyroscope ⋮ IDA-PBC with adaptive friction compensation for underactuated mechanical systems

Cites Work

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• On the passivity based control of irreversible processes: a port-Hamiltonian approach
• On the addition of integral action to port-controlled Hamiltonian systems
• Local linear dynamics assignment in IDA-PBC
• Interconnection and damping assignment passivity-based control: a survey
• Robust energy shaping control of mechanical systems
• Vibration suppression for mass-spring-damper systems with a tuned mass damper using interconnection and damping assignment passivity-based control
• Exponential Stabilization of Boundary Controlled Port-Hamiltonian Systems With Dynamic Feedback
• Passivity-based control of a magnetically levitated flexible beam
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
• Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
• Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example
• Stabilization of an underactuated bottom‐heavy airship via interconnection and damping assignment

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