Abstract
This work investigates the passivity-based control of a class of underactuated mechanical systems with first-order actuator dynamics and constant but uncertain coupling. The main contribution is a new dynamic extension of the interconnection-and-damping-assignment passivity-based control methodology that compensates for the effect of the model uncertainty. The effectiveness of the controller is demonstrated with numerical simulations on a ball-on-beam system.
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.
