Passivity-based control of underactuated systems with non-integrable state-dependent matched disturbances

Authors

Enrico Franco

Abstract

This work investigates the passivity-based control of a class of underactuated mechanical systems subject to matched disturbances that enter the dynamics through a state-dependent vector-valued function that is not integrable. The main contributions include a new passivity-based controller with a dynamic extension, designed with the port-Hamiltonian formalism, and, most importantly, a suitably defined function of the states, serving the purpose of estimating the disturbance parameters while circumventing the usual integrability assumption. A corresponding controller is designed with the Lagrangian formalism, and key differences are discussed. Numerical simulations on two examples demonstrate the effectiveness of the new controllers.

Keywords

disturbances, energy shaping, lagrangian systems, nonlinear systems, port-hamiltonian systems, underactuated mechanical systems

Citation

• Journal: European Journal of Control
• Year: 2026
• Volume: 88
• Issue:
• Pages: 101473
• Publisher: Elsevier BV
• DOI: 10.1016/j.ejcon.2026.101473

BibTeX

@article{Franco_2026,
  title={{Passivity-based control of underactuated systems with non-integrable state-dependent matched disturbances}},
  volume={88},
  ISSN={0947-3580},
  DOI={10.1016/j.ejcon.2026.101473},
  journal={European Journal of Control},
  publisher={Elsevier BV},
  author={Franco, Enrico},
  year={2026},
  pages={101473}
}

Download the bib file

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