Imperial College London
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DrEnricoFranco

Faculty of Engineering, Department of Mechanical Engineering

Lecturer
 
 
 
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Contact

 

e.franco11 Website CV

 
 
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Location

 

414BBessemer BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Franco:2018:10.1109/MED.2018.8442979,
author = {Franco, E},
doi = {10.1109/MED.2018.8442979},
publisher = {IEEE},
title = {Discrete-time IDA-PBC for underactuated mechanical systems with input-delay and matched disturbances},
url = {http://dx.doi.org/10.1109/MED.2018.8442979},
year = {2018}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - This work investigates the control problem of discrete-time underactuated mechanical systems with fixed input-delay and matched disturbances. A new control strategy is proposed, which builds upon a discrete-time implementation of the interconnection-and-damping-assignment passivity-based control (IDA-PBC) and extends it in two ways: the disturbances are estimated adaptively; the input-delay is compensated with a recursive algorithm. The resulting control law is constructed from IDA-PBC without solving any additional partial-differential-equation (PDE). Stability conditions are discussed and compared to alternative designs. Numerical simulations for the ball-on-beam system and for the Acrobot system demonstrate the effectiveness of the proposed approach.
AU  - Franco,E
DO  - 10.1109/MED.2018.8442979
PB  - IEEE
PY  - 2018///
SN  - 2473-3504
TI  - Discrete-time IDA-PBC for underactuated mechanical systems with input-delay and matched disturbances
UR  - http://dx.doi.org/10.1109/MED.2018.8442979
UR  - http://hdl.handle.net/10044/1/63197
ER  -
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