ORCID
- Pablo Borja: 0000-0001-7744-0846
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
ISSN
1049-8923
Recommended Citation
Javanmardi, N., Borja, P., van der Schaft, A., Yazdanpanah, M., & Scherpen, J. (2025) 'Energy-Based Trajectory Tracking for Underactuated Mechanical Systems: Velocity-Free and Disturbance Rejection Methods', International Journal of Robust and Nonlinear Control, . Retrieved from https://pearl.plymouth.ac.uk/secam-research/2114
