Position‐Feedback Integral IDA‐PBC for Constant Matched and Unmatched Disturbances
Authors
Abstract
This work investigates the passivity‐based control of a class of underactuated mechanical systems subject to constant matched and unmatched disturbances, for which the momenta are not measured. The main contribution is a new design of the integral interconnection‐and‐damping assignment passivity‐based control that only relies on position feedback. Numerical simulations on a disk‐on‐disk system, on an Acrobot system, and on a rigid‐link model representative of a soft continuum manipulator demonstrate the effectiveness of the new controller.
Citation
- Journal: International Journal of Robust and Nonlinear Control
- Year: 2025
- Volume:
- Issue:
- Pages:
- Publisher: Wiley
- DOI: 10.1002/rnc.7870
BibTeX
@article{Franco_2025,
title={{Position‐Feedback Integral IDA‐PBC for Constant Matched and Unmatched Disturbances}},
ISSN={1099-1239},
DOI={10.1002/rnc.7870},
journal={International Journal of Robust and Nonlinear Control},
publisher={Wiley},
author={Franco, Enrico and Ryalat, Mutaz},
year={2025}
}
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