Passivity-based control of underactuated systems with non-integrable state-dependent matched disturbances
Abstract
This work investigates the passivity-based control of a class of underactuated mechanical systems subject to matched disturbances that enter the dynamics through a state-dependent vector-valued function that is not integrable. The main contributions include a new passivity-based controller with a dynamic extension, designed with the port-Hamiltonian formalism, and, most importantly, a suitably defined function of the states, serving the purpose of estimating the disturbance parameters while circumventing the usual integrability assumption. A corresponding controller is designed with the Lagrangian formalism, and key differences are discussed. Numerical simulations on two examples demonstrate the effectiveness of the new controllers.
Fields of Study & Subjects
Control and Stability of Dynamical Systems
Numerical methods for differential equations
Quantum chaos and dynamical systems
Publication details
- Journal / source
- European Journal of Control
- Publisher
- Elsevier BV
- Volume
- 88
- Pages
- 101473–101473
- Publication date
- 10 February 2026
- Language
- EN