Digital passivity-based control of underactuated mechanical systems

Authors

Abstract

Most sensors and controllers are discrete-time devices, which may have a detrimental impact on the performance of continuous-time control laws, even leading to unstable behaviors. This paper proposes a sampled-data passivity-based control approach that solves the regulation problem for discrete-time underactuated mechanical systems. Moreover, in contrast to other discrete-time controllers for these systems, the proposed control design method does not require the solution of partial differential equations. To illustrate the approach, we consider three case studies with computational details and simulations.

Keywords

Passivity-based control; Asymptotic stabilization; Lagrangian and Hamiltonian systems; Underactuated mechanical systems; Digital implementation

Citation

Journal: Automatica
Year: 2025
Volume: 173
Issue:
Pages: 112096
Publisher: Elsevier BV
DOI: 10.1016/j.automatica.2024.112096

BibTeX

@article{Mattioni_2025,
  title={{Digital passivity-based control of underactuated mechanical systems}},
  volume={173},
  ISSN={0005-1098},
  DOI={10.1016/j.automatica.2024.112096},
  journal={Automatica},
  publisher={Elsevier BV},
  author={Mattioni, Mattia and Borja, Pablo},
  year={2025},
  pages={112096}
}

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References

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