Premium
Robust IDA‐PBC for underactuated mechanical systems subject to matched disturbances
Author(s) -
Donaire Alejandro,
Romero Jose Guadalupe,
Ortega Romeo,
Siciliano Bruno,
Crespo Martin
Publication year - 2016
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3615
Subject(s) - robustification , passivity , control theory (sociology) , interconnection , nonlinear system , controller (irrigation) , underactuation , mechanical system , stability (learning theory) , computer science , engineering , control (management) , physics , artificial intelligence , computer network , agronomy , quantum mechanics , electrical engineering , outlier , machine learning , biology
Summary The problem of robustification of interconnection and damping assignment passivity‐based control for underactuated mechanical system vis‐à‐vis matched, constant, and unknown disturbances is addressed in the paper. This is achieved adding an outer‐loop controller to the interconnection and damping assignment passivity‐based control. Three designs are proposed, with the first one being a simple nonlinear PI, while the second and the third ones are nonlinear PIDs. While all controllers ensure stability of the desired equilibrium in spite of the presence of the disturbances, the inclusion of the derivative term allows us to inject further damping enlarging the class of systems for which asymptotic stability is ensured. Numerical simulations of the Acrobot system and experimental results on the disk‐on‐disk system illustrate the performance of the proposed controller. Copyright © 2016 John Wiley & Sons, Ltd.