A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is
Improving the robustness, vis-à-vis matched input disturbances of IDA-PBC (Interconnection Damping Assignment, Passivity Based Control) for a class of underactuated mechanical systems is addressed in this paper. The characterized class of systems is the one for which IDA-PBC yields a smooth stabilizing controller. Our main contribution consists in combining the so-called IDA-PBC controller with an adaptive control technique. Some sufficient stability conditions on matched input disturbances aredoi:10.1080/00207179.2017.1331378 fatcat:q6w4rtizmvhzfis7ufjzrdu6xu