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Adaptive IDA‐PBC for Underactuated Mechanical Systems With Unknown Time‐Varying Disturbances.

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Title: Adaptive IDA‐PBC for Underactuated Mechanical Systems With Unknown Time‐Varying Disturbances.
Authors: Romero, Jose Guadalupe1 (AUTHOR), Nuño, Emmanuel2 (AUTHOR) emmanuel.nuno@academicos.udg.mx
Source: International Journal of Adaptive Control & Signal Processing. Jul2026, Vol. 40 Issue 7, p1401-1410. 10p.
Subjects: Passivity-based control, Adaptive control systems, Stability theory, Hamiltonian systems, Control theory (Engineering), Frequencies of oscillating systems, Estimation theory
Abstract: Interconnection and Damping Assignment Passivity‐Based Control (IDA‐PBC) has been one of the most employed algorithms to stabilize underactuated port‐Hamiltonian systems. However, IDA‐PBC cannot handle input disturbances. Disturbances can cause a drift in the desired equilibrium and can generate unstable behaviors. In this paper, we propose to include an adaptive term to estimate the disturbance in the IDA‐PBC for underactuated mechanical systems. Under the assumption that the disturbance is composed of a finite sum of sinusoidal functions with unknown frequencies and amplitudes, we design an estimation algorithm that is based on the internal model for which we estimate, exponentially, the frequencies and the magnitudes of the disturbances. As it is typical in IDA‐PBC, we show that the desired control objective is achieved provided that the desired output is detectable. [ABSTRACT FROM AUTHOR]
Copyright of International Journal of Adaptive Control & Signal Processing is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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DbLabel: Engineering Source
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  Data: Adaptive IDA‐PBC for Underactuated Mechanical Systems With Unknown Time‐Varying Disturbances.
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  Data: <searchLink fieldCode="AR" term="%22Romero%2C+Jose+Guadalupe%22">Romero, Jose Guadalupe</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Nuño%2C+Emmanuel%22">Nuño, Emmanuel</searchLink><relatesTo>2</relatesTo> (AUTHOR)<i> emmanuel.nuno@academicos.udg.mx</i>
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  Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Adaptive+Control+%26+Signal+Processing%22">International Journal of Adaptive Control & Signal Processing</searchLink>. Jul2026, Vol. 40 Issue 7, p1401-1410. 10p.
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  Data: <searchLink fieldCode="DE" term="%22Passivity-based+control%22">Passivity-based control</searchLink><br /><searchLink fieldCode="DE" term="%22Adaptive+control+systems%22">Adaptive control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Stability+theory%22">Stability theory</searchLink><br /><searchLink fieldCode="DE" term="%22Hamiltonian+systems%22">Hamiltonian systems</searchLink><br /><searchLink fieldCode="DE" term="%22Control+theory+%28Engineering%29%22">Control theory (Engineering)</searchLink><br /><searchLink fieldCode="DE" term="%22Frequencies+of+oscillating+systems%22">Frequencies of oscillating systems</searchLink><br /><searchLink fieldCode="DE" term="%22Estimation+theory%22">Estimation theory</searchLink>
– Name: Abstract
  Label: Abstract
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  Data: Interconnection and Damping Assignment Passivity‐Based Control (IDA‐PBC) has been one of the most employed algorithms to stabilize underactuated port‐Hamiltonian systems. However, IDA‐PBC cannot handle input disturbances. Disturbances can cause a drift in the desired equilibrium and can generate unstable behaviors. In this paper, we propose to include an adaptive term to estimate the disturbance in the IDA‐PBC for underactuated mechanical systems. Under the assumption that the disturbance is composed of a finite sum of sinusoidal functions with unknown frequencies and amplitudes, we design an estimation algorithm that is based on the internal model for which we estimate, exponentially, the frequencies and the magnitudes of the disturbances. As it is typical in IDA‐PBC, we show that the desired control objective is achieved provided that the desired output is detectable. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of International Journal of Adaptive Control & Signal Processing is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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    Identifiers:
      – Type: doi
        Value: 10.1002/acs.70076
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 10
        StartPage: 1401
    Subjects:
      – SubjectFull: Passivity-based control
        Type: general
      – SubjectFull: Adaptive control systems
        Type: general
      – SubjectFull: Stability theory
        Type: general
      – SubjectFull: Hamiltonian systems
        Type: general
      – SubjectFull: Control theory (Engineering)
        Type: general
      – SubjectFull: Frequencies of oscillating systems
        Type: general
      – SubjectFull: Estimation theory
        Type: general
    Titles:
      – TitleFull: Adaptive IDA‐PBC for Underactuated Mechanical Systems With Unknown Time‐Varying Disturbances.
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            NameFull: Romero, Jose Guadalupe
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            NameFull: Nuño, Emmanuel
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          Dates:
            – D: 01
              M: 07
              Text: Jul2026
              Type: published
              Y: 2026
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              Value: 40
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              Value: 7
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            – TitleFull: International Journal of Adaptive Control & Signal Processing
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