Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems
For control engineers working on underactuated mechanical systems, this work incrementally improves robustness to matched disturbances by relaxing assumptions.
The paper presents a method to apply integral action for matched disturbance rejection in energy-shaping controlled underactuated mechanical systems, relaxing technical assumptions from prior work and broadening the class of applicable systems.
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.