Energy shaping dynamic tube-MPC for underactuated mechanical systems
نویسندگان
چکیده
This work investigates the tracking control problem for underactuated mechanical systems. To this end, we develop an extension of dynamic tube Model Predictive Control (MPC) approach by combining MPC design, ancillary energy shaping controller constructed with Interconnection and Damping Assignment Passivity-Based methodology, analytical expression tube. In addition, extend proposed including adaptive compensation a class unknown disturbances. The stability analysis is presented employing Lyapunov approach. effectiveness demonstrated simulations on two systems: two-mass-spring-damper system uncertain damping either linear or nonlinear spring; inertia-wheel-pendulum unmodeled
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ژورنال
عنوان ژورنال: Nonlinear Dynamics
سال: 2021
ISSN: ['1573-269X', '0924-090X']
DOI: https://doi.org/10.1007/s11071-021-06863-9