Abstract
Interconnection and damping assignment passivity based control (IDA-PBC) is a method that has been developed to (asymptotically) stabilize nonlinear systems formulated in port-controlled Hamiltonian (PCH) structure. This method has gained increasing popularity and has been successfully applied to a wide range of dynamical systems. However, little is known about the robustness of this method in response to the effects of uncertainty which could result from disturbances, noises, and modeling errors. This paper explores the possibility of extending some energy shaping methods, taking into account the robustness aspects, with the aim of maintaining (asymptotic) stability of the system in the presence of perturbations which inevitably exist in any realistic applications. We propose constructive results on robust IDA-PBC controllers for underactuated mechanical systems that are quite commonly found in practice and have the most challenging control problems within this context. The proposed results extend some existing methods and provide a new framework that allows the implementation of integral and input-to-state stability controllers to underactuated mechanical syste
| Original language | English |
|---|---|
| Pages (from-to) | 3495 - 3502 |
| Number of pages | 8 |
| Journal | IEEE Transactions on Automatic Control |
| Volume | 63 |
| Issue number | 10 |
| Early online date | 23 Jan 2018 |
| DOIs | |
| Publication status | Published - 1 Oct 2018 |
Bibliographical note
© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Keywords
- Mechanical systems
- Robustness
- Damping
- Asymptotic stability
- Uncertainty
- Control systems
- Stability criteria
- Hamiltonian systems
- nonlinear systems
- passivity-based control
- robust control
- input-to-state stability
- underactuated systems