Work

Position‐Feedback Integral IDA‐PBC for Constant Matched and Unmatched Disturbances

Year: 2025

Type: article

Abstract: ABSTRACT This work investigates the passivity‐based control of a class of underactuated mechanical systems subject to constant matched and unmatched disturbances, for which the momenta are not measured. The main contribution is a new design of the integral interconnection‐and‐damping assignment passivity‐based control that only relies on position feedback. Numerical simulations on a disk‐on‐disk system, on an Acrobot system, and on a rigid‐link model representative of a soft continuum manipulator demonstrate the effectiveness of the new controller.

Source: International Journal of Robust and Nonlinear Control

DOI: 10.1002/rnc.7870

Authors: Enrico Franco, Mutaz Ryalat

Institutions: Imperial College London, German Jordanian University

Language: English

Topic: Control and Stability of Dynamical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $4,270

Funder: Engineering and Physical Sciences Research Council