loading page

Energy-Based Trajectory Tracking for Underactuated Mechanical Systems: Velocity-Free and Disturbance Rejection Methods
  • +2
  • N. Javanmardi,
  • Pablo Borja,
  • Arjan van der Schaft,
  • Mohammad Javad Yazdanpanah,
  • Jacquelien Scherpen
N. Javanmardi
Rijksuniversiteit Groningen Faculty of Science and Engineering
Author Profile
Pablo Borja
University of Plymouth School of Engineering Computing and Mathematics
Author Profile
Arjan van der Schaft
Rijksuniversiteit Groningen Faculty of Science and Engineering
Author Profile
Mohammad Javad Yazdanpanah
University of Tehran Faculty of Electrical & Computer Engineering
Author Profile
Jacquelien Scherpen
Rijksuniversiteit Groningen Faculty of Science and Engineering

Corresponding Author:j.m.a.scherpen@rug.nl

Author Profile

Abstract

This work investigates three energy-shaping control approaches to address the trajectory-tracking problem for specific classes of underactuated mechanical systems. In particular, the notions of contractive systems and dynamic extensions are utilized to solve the trajectory-tracking problem while addressing implementation issues such as the lack of velocity sensors and the presence of constant disturbances. To this end, a first tracking controller is developed without the need for velocity measurements. A second controller is introduced, solving the trajectory-tracking problem while rejecting matched constant disturbances. Then, a third approach establishes conditions to combine both mentioned controllers. It is shown that the proposed design methods guarantee exponential convergence of closed-loop systems for specific classes of underactuated mechanical systems. The third method is illustrated with an example.
13 Jul 2024Submitted to International Journal of Robust and Nonlinear Control
13 Jul 2024Submission Checks Completed
13 Jul 2024Assigned to Editor
13 Jul 2024Review(s) Completed, Editorial Evaluation Pending
25 Jul 2024Reviewer(s) Assigned
26 Sep 2024Editorial Decision: Revise Minor