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Integral Passivity-Based Control of Underactuated Mechanical Systems With Hysteretic Elasticity
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DOI：10.1109/LCSYS.2026.3683400.png)
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Abstract
En 中文
This work investigates the passivity-based control of underactuated mechanical systems subject to matched disturbances described by the Bouc-Wen model. This model is widely used to characterize the nonlinear hysteretic elasticity observed in mechanical systems, and it does so by employing an internal state that is not measured. A new interconnection and damping-assignment passivity-based control design is presented for this specific scenario, and simulations on a ball-on-beam system demonstrate its effectiveness.
Keywords:
Isolators
Instant messaging
Electronic messaging
Internet
Artificial intelligence
Reinforcement learning
Computational and artificial intelligence
Regulation
Ports (computers)
Government policies
Uncertain systems
underactuated systems
control applications
hysteresis
Journal
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2
Papers:
94
Citations:
5.0K
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