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      Robust control approach for handling matched and/or unmatched uncertainties in port-controlled Hamiltonian systems

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          Abstract

          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.

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          Most cited references22

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          Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems

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            Putting energy back in control

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              Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment

                Author and article information

                Contributors
                Journal
                IET-CSR
                IET Cyber-systems and Robotics
                IET Cyber-syst. Robot.
                The Institution of Engineering and Technology
                2631-6315
                30 September 2019
                11 December 2019
                December 2019
                : 1
                : 3
                : 73-80
                Affiliations
                [1 ] Department of Electrical and Electronic Engineering, Shiraz University of Technology , Shiraz, Iran
                [2 ] Department of Mechanical and Aerospace Engineering, Shiraz University of Technology , Shiraz, Iran
                Article
                IET-CSR.2019.0019 CSR.2019.0019.R1
                10.1049/iet-csr.2019.0019
                3111b0d2-fff7-447b-be60-1ba744219ed4

                This is an open access article published by the IET and Zhejiang University Press under the Creative Commons Attribution-NonCommercial-NoDerivs License ( http://creativecommons.org/licenses/by-nc-nd/3.0/)

                History
                : 17 April 2019
                : 1 September 2019
                : 24 September 2019
                Page count
                Pages: 0
                Categories
                Research Article

                Software engineering,Data structures & Algorithms,Robotics,Networking & Internet architecture,Artificial intelligence,Human-computer-interaction
                unmatched uncertainties,asymptotic stability,matched uncertainties,robust control,damping,robust control approach,nonlinear control systems,closed-loop system,control input,presented robust controller,stability,robust control design,damping assignment passivity-based control approach,uncertain systems,underactuated mechanical systems,IDA-PBC,pendulums,robust interconnection,control system synthesis,port-controlled Hamiltonian systems,closed loop systems

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