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: 35
Issue: 9
Pages: 3623–3639
Publisher: Wiley
DOI: 10.1002/rnc.7870

BibTeX

@article{Franco_2025,
  title={{Position‐Feedback Integral IDA‐PBC for Constant Matched and Unmatched Disturbances}},
  volume={35},
  ISSN={1099-1239},
  DOI={10.1002/rnc.7870},
  number={9},
  journal={International Journal of Robust and Nonlinear Control},
  publisher={Wiley},
  author={Franco, Enrico and Ryalat, Mutaz},
  year={2025},
  pages={3623--3639}
}

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References

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