Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances

Abstract

This work presents a new formulation of the integral interconnection and damping-assignment passivity-based control methodology for underactuated mechanical systems subject to both matched and unmatched disturbances, either constant or position-dependent. The new controller is also applicable to systems with non-constant input matrix. Simulations results on two examples demonstrate its effectiveness.