A novel passivity-based energy-shaping tracking control strategy for networked underactuated Euler-Lagrange systems

This paper presents the innovative tracking control approach for networked underactuated Euler-Lagrange systems (NUELSs), which employs the energy-shaping method within the passivity-based control framework. By introducing adaptive control techniques and sliding mode variables, two passivity-based control schemes for NUELSs are developed to enhance the reliability and tracking performance. The proposed controllers achieve closed-loop stability and accurate trajectory tracking by shaping the system's energy and assigning appropriate damping, while maintaining robustness in the presence of communication delays. The rigorous Lyapunov-based analysis is conducted to prove that all internal signals remain bounded and that the tracking errors converge asymptotically to zero. Furthermore, numerical simulations further validate the effectiveness of the presented method.