Adaptive IDA‐PBC for underactuated mechanical systems with constant disturbances | Zendy

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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) , passivity , underactuation , constant (computer programming) , nonlinear system , feedback linearization , inertia , controller (irrigation) , compensation (psychology) , mechanical system , interconnection , computer science , inverted pendulum , work (physics) , pendulum , double pendulum , linearization , stability (learning theory) , control engineering , engineering , control (management) , physics , mechanical engineering , psychology , computer network , agronomy , electrical engineering , classical mechanics , quantum mechanics , artificial intelligence , machine learning , psychoanalysis , biology , programming language

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.

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