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Adaptive Interconnection and Damping Assignment Passivity Based Control for Underactuated Mechanical Systems

Mutaz Ryalat*, Dina Shona Laila, and Hisham ElMoaqet
International Journal of Control, Automation, and Systems, vol. 19, no. 2, pp.864-877, 2021

Abstract : In this paper, we present two adaptive control approaches to handle uncertainties caused by parametric and modeling errors in a class of nonlinear systems with uncertainties. The methods use the Port-controlled Hamiltonian (PCH) modelling framework and the interconnection and damping assignment passivity-based control (IDA-PBC) control design methodology being the most effectively applicable method to such models. The methods explore an extension on the classical IDA-PBC by adopting the state-transformation, yielding a dynamic state-feedback controller that asymptotically stabilizes a class of underactuated mechanical systems and preserves the PCH structure of the augmented closed-loop system. The results are applied to the underactuated mechanical systems that are a class of mechanical systems with broad applications and are more interesting as well as challenging control problems within this context. The results are illustrated with numerical simulations applied to two underactuated robotic systems; the Acrobot and non-prehensile planar rolling robotic (disk-on-disk) systems.

Keyword : Adaptive control, Hamiltonian systems, passivity-based control, underactuated mechanical systems

 
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