An Adaptive Controller Based on Interconnection and Damping Assignment Passivity-Based Control for Underactuated Mechanical Systems: Application to the Ball and Beam System
Abstract
:1. Introduction
2. Problem Statement
2.1. Review of IDA-PBC Design
2.2. Possible Uncertainties
3. Controller Design and Stability Analysis
4. Example: The Ball and Beam System
4.1. System Model
4.2. Controller Design
4.3. Stability Analysis
4.4. Numerical Simulation Results
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Liu, X.; Shao, H.; Liu, C.; Li, N.; Guo, X.; Zheng, F.; Sun, L. An Adaptive Controller Based on Interconnection and Damping Assignment Passivity-Based Control for Underactuated Mechanical Systems: Application to the Ball and Beam System. Actuators 2023, 12, 408. https://doi.org/10.3390/act12110408
Liu X, Shao H, Liu C, Li N, Guo X, Zheng F, Sun L. An Adaptive Controller Based on Interconnection and Damping Assignment Passivity-Based Control for Underactuated Mechanical Systems: Application to the Ball and Beam System. Actuators. 2023; 12(11):408. https://doi.org/10.3390/act12110408
Chicago/Turabian StyleLiu, Xiaoping, Huaizhi Shao, Cungen Liu, Ning Li, Xinpeng Guo, Fei Zheng, and Lijun Sun. 2023. "An Adaptive Controller Based on Interconnection and Damping Assignment Passivity-Based Control for Underactuated Mechanical Systems: Application to the Ball and Beam System" Actuators 12, no. 11: 408. https://doi.org/10.3390/act12110408