ORCID
- Pablo Borja: 0000-0001-7744-0846
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.
DOI Link
Publication Date
2024-09-25
Event
8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNC 2024
Publication Title
IFAC-PapersOnLine
Volume
58
Issue
6
ISSN
2405-8963
Acceptance Date
2024-03-06
Deposit Date
2025-01-27
Funding
EPSRC. Grants EP/X033546/1 and EP/V040367/1
Additional Links
Keywords
disturbances, integral action, nonlinear systems, Passivity-based control
Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-No Derivative Works 4.0 International License.
First Page
19
Last Page
24
Recommended Citation
Franco, E., & Borja, P. (2024) 'Integral IDA-PBC of Underactuated Mechanical Systems with Actuator Dynamics and Uncertain Coupling', IFAC-PapersOnLine, 58(6), pp. 19-24. Available at: 10.1016/j.ifacol.2024.08.250
