Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems

TL;DR

This paper introduces a robust control method that applies integral action to energy-shaping controllers for underactuated mechanical systems, relaxing previous technical assumptions to broaden applicability.

Contribution

It proposes a new approach that relaxes technical assumptions in energy-shaping control for underactuated systems, improving robustness against matched disturbances.

Findings

Enhanced robustness of controllers with integral action

Broader class of systems applicable due to relaxed assumptions

Validated effectiveness through theoretical analysis

Abstract

In this paper, we present a method of applying integral action to enhance the robustness of energy shaping controllers for underactuated mechanical systems with matched disturbances. Previous works on this problem have required a number of technical assumptions to be satisfied, restricting the class of systems for which the proposed solution applies. The design proposed in this paper relaxes some of these technical assumptions.