Integral Controlled Lagrangians for underactuated mechanical systems subject to matched and unmatched disturbances

Authors

Enrico Franco

Abstract

This work investigates the extension of the Controlled Lagrangians methodology for underactuated mechanical systems subject to matched and unmatched disturbances. A new passivity-preserving controller design that includes two dynamic extensions for disturbance rejection purposes is presented. The new controller is compared with the corresponding port-controlled Hamiltonian implementation, and an interpretation of the dynamic extensions as low-pass filters is proposed. The effectiveness of the proposed controller is demonstrated with numerical simulations.

Keywords

disturbances, energy shaping, nonlinear systems, underactuated mechanical systems

Citation

• Journal: Journal of the Franklin Institute
• Year: 2025
• Volume: 362
• Issue: 18
• Pages: 108205
• Publisher: Elsevier BV
• DOI: 10.1016/j.jfranklin.2025.108205

BibTeX

@article{Franco_2025,
  title={{Integral Controlled Lagrangians for underactuated mechanical systems subject to matched and unmatched disturbances}},
  volume={362},
  ISSN={0016-0032},
  DOI={10.1016/j.jfranklin.2025.108205},
  number={18},
  journal={Journal of the Franklin Institute},
  publisher={Elsevier BV},
  author={Franco, Enrico},
  year={2025},
  pages={108205}
}

Download the bib file

References

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