Abstract
This work investigates the tracking control problem for underactuated mechanical systems. To this end, we develop an extension of the dynamic tube Model Predictive Control (MPC) approach by combining an MPC design, an ancillary energy shaping controller constructed with the Interconnection and Damping Assignment Passivity-Based Control methodology, and an analytical expression of the dynamic tube. In addition, we extend the proposed approach by including the adaptive compensation of a class of unknown disturbances. The stability analysis is presented by employing a Lyapunov approach. The effectiveness of the proposed controller is demonstrated with simulations on two underactuated systems: a two-mass-spring-damper system with uncertain damping and either linear or nonlinear spring; an inertia-wheel-pendulum with unmodeled disturbances.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
