ORCID
- Pablo Borja: 0000-0001-7744-0846
Abstract
Most sensors and controllers are discrete-time devices, which may have a detrimental impact on the performance of continuous-time control laws, even leading to unstable behaviors. This paper proposes a sampled-data passivity-based control approach that solves the regulation problem for discrete-time underactuated mechanical systems. Moreover, in contrast to other discrete-time controllers for these systems, the proposed control design method does not require the solution of partial differential equations. To illustrate the approach, we consider three case studies with computational details and simulations.
DOI Link
DOI
10.1016/j.automatica.2024.112096
Publication Date
2025-01-15
Publication Title
Automatica
Volume
173
ISSN
0005-1098
Keywords
Asymptotic stabilization, Digital implementation, Lagrangian and Hamiltonian systems, Passivity-based control, Underactuated mechanical systems
Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.
Recommended Citation
Mattioni, M., & Borja, P. (2025) 'Digital passivity-based control of underactuated mechanical systems', Automatica, 173. Available at: 10.1016/j.automatica.2024.112096
