Work

Integral Controlled Lagrangians for underactuated mechanical systems subject to matched and unmatched disturbances

Year: 2025

Type: article

Abstract: • An extended Controlled Lagrangian for systems with matched and unmatched disturbances. • Comparison between Lagrangian and port-Hamiltonian implementations. • Interpretation of the dynamic extensions as low-pass filters. This work investigates the extension of the Controlled Lagrangians methodology for underactuated mechanical systems subject to matched and unmatched disturbances. A new passivity-preserving controller design that includes two dynamic extensions for disturbance rejection purposes is presented. The new controller is compared with the corresponding port-controlled Hamiltonian implementation, and an interpretation of the dynamic extensions as low-pass filters is proposed. The effectiveness of the proposed controller is demonstrated with numerical simulations.

Source: Journal of the Franklin Institute

DOI: 10.1016/j.jfranklin.2025.108205

Author: Enrico Franco

Institution: Imperial College London

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: $3,100

Funder: Engineering and Physical Sciences Research Council