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Adaptive Interconnection and Damping Assignment Passivity Based Control for Underactuated Mechanical Systems

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  • Control Theory and Applications
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Abstract

In this paper, we present two adaptive control approaches to handle uncertainties caused by parametric and modeling errors in a class of nonlinear systems with uncertainties. The methods use the Port-controlled Hamiltonian (PCH) modelling framework and the interconnection and damping assignment passivity-based control (IDA-PBC) control design methodology being the most effectively applicable method to such models. The methods explore an extension on the classical IDA-PBC by adopting the state-transformation, yielding a dynamic state-feedback controller that asymptotically stabilizes a class of underactuated mechanical systems and preserves the PCH structure of the augmented closed-loop system. The results are applied to the underactuated mechanical systems that are a class of mechanical systems with broad applications and are more interesting as well as challenging control problems within this context. The results are illustrated with numerical simulations applied to two underactuated robotic systems; the Acrobot and non-prehensile planar rolling robotic (disk-on-disk) systems.

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Authors and Affiliations

  1. Mechatronics Engineering Department, School of Applied Technical Sciences, German Jordanian University, Amman, Jordan

    Mutaz Ryalat & Hisham ElMoaqet

  2. Electrical and Electronic Engineering, Faculty of Engineering, Universiti Teknologi Brunei, Muara, BE1410, Brunei Darussalam

    Dina Shona Laila

Authors
  1. Mutaz Ryalat
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  2. Dina Shona Laila
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  3. Hisham ElMoaqet
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Correspondence to Mutaz Ryalat.

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Mutaz Ryalat was born in Amman, Jordan. He received his B.Sc. degree in mechatronics engineering from the University of Jordan, Amman, Jordan, in 2005 and an M.Sc. degree in mechatronics engineering from Loughborough University, Loughborough, UK, in 2007, and a Ph.D. degree in nonlinear and robust control from the University of Southampton, Southampton, UK, in 2015. He is currently an Assistant Professor in the mechatronics engineering department at the German-Jordanian University, Amman, Jordan. His research interests are focused on nonlinear and robust control of mechanical/electromechanical systems, Hamiltonian systems, mechatronics system design, and robotic systems and automotive. He serves as an active reviewer for a number of journals and conferences in the area of control engineering.

Dina Shona Laila was born in Jakarta, Indonesia. She obtained her B.Eng. and M.Eng. degrees from the Institute of Technology Bandung (ITB), Indonesia. She was a research student at Araki Laboratory, Kyoto University, Japan and obtained her Ph.D. degree in control engineering from the University of Melbourne, Australia. She has developed a rich international research and academic career, joining ITB, Imperial College London, Johannes Kepler University Linz, Kingston University, University of Southampton, Coventry University, and currently she is with the Faculty of Engineering, Universiti Teknologi Brunei, Brunei Darussalam. She has been an associate editor for the European Journal of Control, a member of the editorial board of the IEEE CSS Conferences and the European Control Conference, and an active reviewer for various control systems related journals. She is a Senior Member of the IEEE and a Fellow of Higher Education Academy (HEA), UK. Her research interest includes nonlinear control, mechatronics and embedded control systems, instrumentation and systems’ monitoring for various applications.

Hisham ElMoaqet received his Ph.D. degree in mechanical engineering from the University of Michigan, Ann Arbor, MI, USA, in 2015. He is a currently an Assistant Professor with the Department of Mechatronics Engineering at the German Jordanian University, Amman, Jordan. His current research interests include dynamic systems identification and control, machine learning, physiological systems, and mechatronics systems design.

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Ryalat, M., Laila, D.S. & ElMoaqet, H. Adaptive Interconnection and Damping Assignment Passivity Based Control for Underactuated Mechanical Systems. Int. J. Control Autom. Syst. 19, 864–877 (2021). https://doi.org/10.1007/s12555-019-1019-z

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