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Robust dynamic state feedback for underactuated systems with linearly parameterized disturbances
Author(s) -
Franco Enrico,
Rodriguez y Baena Ferdinando,
Astolfi Alessandro
Publication year - 2020
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.4985
Subject(s) - underactuation , control theory (sociology) , parameterized complexity , passivity , interconnection , full state feedback , computer science , mathematics , engineering , control (management) , algorithm , computer network , artificial intelligence , electrical engineering
Summary This article investigates the control problem for underactuated port‐controlled Hamiltonian systems with multiple linearly parameterized additive disturbances including matched, unmatched, constant, and state‐dependent components. The notion of algebraic solution of the matching equations is employed to design an extension of the interconnection and damping assignment passivity‐based control methodology that does not rely on the solution of partial differential equations. The result is a dynamic state‐feedback that includes a disturbance compensation term, where the unknown parameters are estimated adaptively. A simplified implementation of the proposed approach for underactuated mechanical systems is detailed. The effectiveness of the controller is demonstrated with numerical simulations for the magnetic‐levitated‐ball system and for the ball‐on‐beam system.