Robust IDA‐PBC for underactuated mechanical systems subject to matched disturbances
Summary The problem of robustification of interconnection and damping assignment passivity‐based control for underactuated mechanical system vis‐à‐vis matched, constant, and unknown disturbances is addressed in the paper. This is achieved adding an outer‐loop controller to the interconnection and da...
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| Veröffentlicht in: | International journal of robust and nonlinear control 2017-04, Vol.27 (6), p.1000-1016 |
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| container_issue | 6 |
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| container_title | International journal of robust and nonlinear control |
| container_volume | 27 |
| creator | Donaire, Alejandro Romero, Jose Guadalupe Ortega, Romeo Siciliano, Bruno Crespo, Martin |
| description | Summary
The problem of robustification of interconnection and damping assignment passivity‐based control for underactuated mechanical system vis‐à‐vis matched, constant, and unknown disturbances is addressed in the paper. This is achieved adding an outer‐loop controller to the interconnection and damping assignment passivity‐based control. Three designs are proposed, with the first one being a simple nonlinear PI, while the second and the third ones are nonlinear PIDs. While all controllers ensure stability of the desired equilibrium in spite of the presence of the disturbances, the inclusion of the derivative term allows us to inject further damping enlarging the class of systems for which asymptotic stability is ensured. Numerical simulations of the Acrobot system and experimental results on the disk‐on‐disk system illustrate the performance of the proposed controller. Copyright © 2016 John Wiley & Sons, Ltd. |
| doi_str_mv | 10.1002/rnc.3615 |
| format | Article |
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The problem of robustification of interconnection and damping assignment passivity‐based control for underactuated mechanical system vis‐à‐vis matched, constant, and unknown disturbances is addressed in the paper. This is achieved adding an outer‐loop controller to the interconnection and damping assignment passivity‐based control. Three designs are proposed, with the first one being a simple nonlinear PI, while the second and the third ones are nonlinear PIDs. While all controllers ensure stability of the desired equilibrium in spite of the presence of the disturbances, the inclusion of the derivative term allows us to inject further damping enlarging the class of systems for which asymptotic stability is ensured. Numerical simulations of the Acrobot system and experimental results on the disk‐on‐disk system illustrate the performance of the proposed controller. Copyright © 2016 John Wiley & Sons, Ltd.</description><identifier>ISSN: 1049-8923</identifier><identifier>EISSN: 1099-1239</identifier><identifier>DOI: 10.1002/rnc.3615</identifier><language>eng</language><publisher>Bognor Regis: Wiley Subscription Services, Inc</publisher><subject>Automatic ; Automatic Control Engineering ; Computer Science ; Control stability ; Controllers ; Damping ; disturbance rejection ; Disturbances ; Engineering Sciences ; Interconnection ; Mechanical systems ; Nonlinearity ; passivity‐based control ; Robustness (mathematics) ; stabilization of nonlinear systems</subject><ispartof>International journal of robust and nonlinear control, 2017-04, Vol.27 (6), p.1000-1016</ispartof><rights>Copyright © 2016 John Wiley & Sons, Ltd.</rights><rights>Copyright © 2017 John Wiley & Sons, Ltd.</rights><rights>Distributed under a Creative Commons Attribution 4.0 International License</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c4345-e294e97d39a4c320b9a6de16425ff1ee7a8c63547071c47ff3a9a60fa85386a03</citedby><orcidid>0000-0002-7747-5405 ; 0000-0002-9752-9095 ; 0000-0001-7505-0182</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1002%2Frnc.3615$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1002%2Frnc.3615$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>230,314,780,784,885,1417,27924,27925,45574,45575</link.rule.ids><backlink>$$Uhttps://centralesupelec.hal.science/hal-01815715$$DView record in HAL$$Hfree_for_read</backlink></links><search><creatorcontrib>Donaire, Alejandro</creatorcontrib><creatorcontrib>Romero, Jose Guadalupe</creatorcontrib><creatorcontrib>Ortega, Romeo</creatorcontrib><creatorcontrib>Siciliano, Bruno</creatorcontrib><creatorcontrib>Crespo, Martin</creatorcontrib><title>Robust IDA‐PBC for underactuated mechanical systems subject to matched disturbances</title><title>International journal of robust and nonlinear control</title><description>Summary
The problem of robustification of interconnection and damping assignment passivity‐based control for underactuated mechanical system vis‐à‐vis matched, constant, and unknown disturbances is addressed in the paper. This is achieved adding an outer‐loop controller to the interconnection and damping assignment passivity‐based control. Three designs are proposed, with the first one being a simple nonlinear PI, while the second and the third ones are nonlinear PIDs. While all controllers ensure stability of the desired equilibrium in spite of the presence of the disturbances, the inclusion of the derivative term allows us to inject further damping enlarging the class of systems for which asymptotic stability is ensured. Numerical simulations of the Acrobot system and experimental results on the disk‐on‐disk system illustrate the performance of the proposed controller. Copyright © 2016 John Wiley & Sons, Ltd.</description><subject>Automatic</subject><subject>Automatic Control Engineering</subject><subject>Computer Science</subject><subject>Control stability</subject><subject>Controllers</subject><subject>Damping</subject><subject>disturbance rejection</subject><subject>Disturbances</subject><subject>Engineering Sciences</subject><subject>Interconnection</subject><subject>Mechanical systems</subject><subject>Nonlinearity</subject><subject>passivity‐based control</subject><subject>Robustness (mathematics)</subject><subject>stabilization of nonlinear systems</subject><issn>1049-8923</issn><issn>1099-1239</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2017</creationdate><recordtype>article</recordtype><recordid>eNpd0ctKAzEUBuAgCtYq-AgDbnQxNbeZSZa1XioUlWLX4UwmQ6fMpU4SpTsfwWf0ScxQceHqhOTjhHN-hM4JnhCM6XXf6glLSXKARgRLGRPK5OFw5jIWkrJjdGLtBuPwRvkIrZZd7q2LHm-n359fLzezqOz6yLeF6UE7D84UUWP0GtpKQx3ZnXWmsZH1-cZoF7kuasDpdVBFZZ3vc2i1safoqITamrPfOkar-7vX2TxePD88zqaLWHPGk9hQyY3MCiaBa0ZxLiEtDEk5TcqSGJOB0ClLeIYzonlWlgyCwCWIhIkUMBujq33fNdRq21cN9DvVQaXm04Ua7jARJMlI8k6Cvdzbbd-9eWOdaiqrTV1DazpvFRGCE5qFfQV68Y9uOt-3YZKgMkaJFFwGFe_VR1Wb3d_3BKshCBWCUEMQavk0Gyr7AYHgfAw</recordid><startdate>20170401</startdate><enddate>20170401</enddate><creator>Donaire, Alejandro</creator><creator>Romero, Jose Guadalupe</creator><creator>Ortega, Romeo</creator><creator>Siciliano, Bruno</creator><creator>Crespo, Martin</creator><general>Wiley Subscription Services, Inc</general><general>Wiley</general><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>1XC</scope><orcidid>https://orcid.org/0000-0002-7747-5405</orcidid><orcidid>https://orcid.org/0000-0002-9752-9095</orcidid><orcidid>https://orcid.org/0000-0001-7505-0182</orcidid></search><sort><creationdate>20170401</creationdate><title>Robust IDA‐PBC for underactuated mechanical systems subject to matched disturbances</title><author>Donaire, Alejandro ; Romero, Jose Guadalupe ; Ortega, Romeo ; Siciliano, Bruno ; Crespo, Martin</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c4345-e294e97d39a4c320b9a6de16425ff1ee7a8c63547071c47ff3a9a60fa85386a03</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2017</creationdate><topic>Automatic</topic><topic>Automatic Control Engineering</topic><topic>Computer Science</topic><topic>Control stability</topic><topic>Controllers</topic><topic>Damping</topic><topic>disturbance rejection</topic><topic>Disturbances</topic><topic>Engineering Sciences</topic><topic>Interconnection</topic><topic>Mechanical systems</topic><topic>Nonlinearity</topic><topic>passivity‐based control</topic><topic>Robustness (mathematics)</topic><topic>stabilization of nonlinear systems</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Donaire, Alejandro</creatorcontrib><creatorcontrib>Romero, Jose Guadalupe</creatorcontrib><creatorcontrib>Ortega, Romeo</creatorcontrib><creatorcontrib>Siciliano, Bruno</creatorcontrib><creatorcontrib>Crespo, Martin</creatorcontrib><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Hyper Article en Ligne (HAL)</collection><jtitle>International journal of robust and nonlinear control</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Donaire, Alejandro</au><au>Romero, Jose Guadalupe</au><au>Ortega, Romeo</au><au>Siciliano, Bruno</au><au>Crespo, Martin</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Robust IDA‐PBC for underactuated mechanical systems subject to matched disturbances</atitle><jtitle>International journal of robust and nonlinear control</jtitle><date>2017-04-01</date><risdate>2017</risdate><volume>27</volume><issue>6</issue><spage>1000</spage><epage>1016</epage><pages>1000-1016</pages><issn>1049-8923</issn><eissn>1099-1239</eissn><abstract>Summary
The problem of robustification of interconnection and damping assignment passivity‐based control for underactuated mechanical system vis‐à‐vis matched, constant, and unknown disturbances is addressed in the paper. This is achieved adding an outer‐loop controller to the interconnection and damping assignment passivity‐based control. Three designs are proposed, with the first one being a simple nonlinear PI, while the second and the third ones are nonlinear PIDs. While all controllers ensure stability of the desired equilibrium in spite of the presence of the disturbances, the inclusion of the derivative term allows us to inject further damping enlarging the class of systems for which asymptotic stability is ensured. Numerical simulations of the Acrobot system and experimental results on the disk‐on‐disk system illustrate the performance of the proposed controller. Copyright © 2016 John Wiley & Sons, Ltd.</abstract><cop>Bognor Regis</cop><pub>Wiley Subscription Services, Inc</pub><doi>10.1002/rnc.3615</doi><tpages>17</tpages><orcidid>https://orcid.org/0000-0002-7747-5405</orcidid><orcidid>https://orcid.org/0000-0002-9752-9095</orcidid><orcidid>https://orcid.org/0000-0001-7505-0182</orcidid></addata></record> |
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| ispartof | International journal of robust and nonlinear control, 2017-04, Vol.27 (6), p.1000-1016 |
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| language | eng |
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| source | Wiley Journals |
| subjects | Automatic Automatic Control Engineering Computer Science Control stability Controllers Damping disturbance rejection Disturbances Engineering Sciences Interconnection Mechanical systems Nonlinearity passivity‐based control Robustness (mathematics) stabilization of nonlinear systems |
| title | Robust IDA‐PBC for underactuated mechanical systems subject to matched disturbances |
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