2017/10/17 by Joel Ferguson, Ferguson, Joel, Alejandro Donaire +5
Biochemistry, Genetics and Molecular Biology · Engineering · #ATP Synthase and ATPases Research #Control and Stability of Dynamical Systems #FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1710.06070
openalex publication_date 2017/10/17 · openalex created_date 2025/10/10 · openalex updated_date 2026/08/01
In this paper we present a method to robustify energy-shaping controllers for port-Hamiltonian (pH) systems by adding an integral action that rejects unknown additive disturbances. The proposed controller preserves the pH structure and, by adding to the new energy function a suitable cross term between the plant and the controller coordinates, it avoids the unnatural coordinate transformation used in the past. This paper extends our previous work by relaxing the requirement that the systems Hamiltonian is strictly convex and separable, which allows the controller to be applied to a large class of mechanical systems, including underactuated systems with non-constant mass matrix. Furthermore, it is shown that the proposed integral action control is robust against unknown damping in the case of fully-actuated systems.