Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances

Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances. Franco, E., Arpenti, P., Donaire, A., & Ruggiero, F. IEEE Control Systems Letters, 8:568–573, 2024.

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This work presents a new formulation of the integral interconnection and damping-assignment passivity-based control methodology for underactuated mechanical systems subject to both matched and unmatched disturbances, either constant or position-dependent. The new controller is also applicable to systems with non-constant input matrix. Simulations results on two examples demonstrate its effectiveness.

@article{franco_integral_2024,
	title = {Integral {IDA}-{PBC} for {Underactuated} {Mechanical} {Systems} {Subject} to {Matched} and {Unmatched} {Disturbances}},
	volume = {8},
	copyright = {https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html},
	issn = {2475-1456},
	url = {https://ieeexplore.ieee.org/document/10529105/},
	doi = {10.1109/LCSYS.2024.3399474},
	abstract = {This work presents a new formulation of the integral interconnection and damping-assignment passivity-based control methodology for underactuated mechanical systems subject to both matched and unmatched disturbances, either constant or position-dependent. The new controller is also applicable to systems with non-constant input matrix. Simulations results on two examples demonstrate its effectiveness.},
	language = {en},
	urldate = {2024-12-17},
	journal = {IEEE Control Systems Letters},
	author = {Franco, Enrico and Arpenti, Pierluigi and Donaire, Alejandro and Ruggiero, Fabio},
	year = {2024},
	keywords = {/unread},
	pages = {568--573},
}

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