Premium
Adaptive IDA‐PBC for underactuated mechanical systems with constant disturbances
Author(s) -
Franco Enrico
Publication year - 2019
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2947
Subject(s) - control theory (sociology) , underactuation , passivity , constant (computer programming) , nonlinear system , feedback linearization , controller (irrigation) , inertia , compensation (psychology) , inverted pendulum , computer science , interconnection , pendulum , mechanical system , work (physics) , stability (learning theory) , linearization , control engineering , engineering , control (management) , physics , artificial intelligence , mechanical engineering , psychology , computer network , agronomy , electrical engineering , classical mechanics , quantum mechanics , psychoanalysis , biology , programming language , machine learning
Summary This work investigates the control of nonlinear underactuated mechanical systems with matched and unmatched constant disturbances. To this end, a new control strategy is proposed, which builds upon the interconnection‐and‐damping‐assignment passivity‐based control, augmenting it with an additional term for the purpose of disturbance compensation. In particular, the disturbances are estimated adaptively and then accounted for in the control law employing a new matching condition of algebraic nature. Stability conditions are discussed, and for comparison purposes, an alternative controller based on partial feedback linearization is presented. The effectiveness of the proposed approach is demonstrated with numerical simulations for three motivating examples: the inertia wheel pendulum, the disk‐on‐disk system, and the pendulum‐on‐cart system.