Robust dynamic state feedback for underactuated systems with linearly parameterized disturbances

DOI10.1002/RNC.4985MaRDI QIDQ4990594zbMATH OpenOpenAlexFDO

Authors Enrico Franco, Ferdinando Rodriguez Y. Baena, Alessandro Astolfi

Publication date 31 May 2021

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

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1002/rnc.4985

zbMATH Keywords

adaptive controldisturbance rejectionmechanical systemspassivity-based controlunderactuated systems

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Feedback control (93B52) Networked control (93B70) Adaptive control/observation systems (93C40)

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Cited in

(14)

• Asymptotic perturbed feedback linearisation of underactuated Euler's dynamics
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• Robust passivity‐based control design for active nonlinear suspension system
• Energy shaping control for systems with underactuation degrees two by controlled Lagrangian method
• 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
• Passivity‐based control of nonlinear active dynamic vibration absorber
• Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances
• Adaptive interconnection and damping assignment passivity-based control for an underactuated cable-driven robot
• Active space control of underactuated robots: from adaptation to robustness to optimality
• Energy-based trajectory tracking for underactuated mechanical systems: velocity-free and disturbance rejection methods

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