학술논문
Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances
Document Type
Periodical
Author
Source
IEEE Control Systems Letters IEEE Control Syst. Lett. Control Systems Letters, IEEE. 8:568-573 2024
Subject
Language
ISSN
2475-1456
Abstract
This letter presents a new formulation of the integral interconnection and damping-assignment passivity-based control methodology for underactuated mechanical systems subject to both matched and unmatched disturbances, either constant or position-dependent. The new controller is also applicable to systems with non-constant input matrix. Simulations results on two examples demonstrate its effectiveness.