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Abstract

This work investigates three energy-shaping control approaches to address the trajectory-tracking problem for specific classes of underactuated mechanical systems. In particular, the notions of contractive systems and dynamic extensions are utilized to solve the trajectory-tracking problem while addressing implementation issues such as the lack of velocity sensors and the presence of constant disturbances. To this end, a first tracking controller is developed without the need for velocity measurements. A second controller is introduced, solving the trajectory-tracking problem while rejecting matched constant disturbances. Then, a third approach establishes conditions to combine both mentioned controllers. It is shown that the proposed design methods guarantee exponential convergence of closed-loop systems for specific classes of underactuated mechanical systems. The third method is illustrated with an example.

Publication Date

2025-05-15

Publication Title

International Journal of Robust and Nonlinear Control

Volume

35

Issue

14

ISSN

1049-8923

Acceptance Date

2025-04-15

Deposit Date

2025-05-16

Keywords

contractive systems, disturbance rejection, interconnection and damping assignment passivity-based control technique, nonlinear systems, port-Hamiltonian systems, trajectory tracking, underactuated systems

First Page

6036

Last Page

6050

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