This study considers the problem of robust interconnection and damping assignment passivity-based control approach(IDA-PBC)for underactuated mechanical systems from two points of view.First,the robustness of IDA-PBC i...This study considers the problem of robust interconnection and damping assignment passivity-based control approach(IDA-PBC)for underactuated mechanical systems from two points of view.First,the robustness of IDA-PBC in the presence of non-vanishing matched and unmatched uncertainties is analysed and sufficient conditions are derived to ensure ultimate boundedness of system.Second,the robust control design is provided by adding a new control input to the former controller designed by IDA-PBC,such that asymptotic stability of the closed-loop system in the face of non-vanishing matched uncertainties is fulfilled.Finally,the proposed robust controller is evaluated through simulations of two practical examples,i.e.an inertia wheel pendulum and a single-link elastic joint robot.The simulation outcomes clearly reveal the effectiveness of the presented robust controller.展开更多
文摘This study considers the problem of robust interconnection and damping assignment passivity-based control approach(IDA-PBC)for underactuated mechanical systems from two points of view.First,the robustness of IDA-PBC in the presence of non-vanishing matched and unmatched uncertainties is analysed and sufficient conditions are derived to ensure ultimate boundedness of system.Second,the robust control design is provided by adding a new control input to the former controller designed by IDA-PBC,such that asymptotic stability of the closed-loop system in the face of non-vanishing matched uncertainties is fulfilled.Finally,the proposed robust controller is evaluated through simulations of two practical examples,i.e.an inertia wheel pendulum and a single-link elastic joint robot.The simulation outcomes clearly reveal the effectiveness of the presented robust controller.
