- Title
- Simplifying robust energy shaping controllers for mechanical systems via coordinate changes
- Creator
- Romero, José Guadalupe; Donaire, Alejandro; Ortega, Romeo
- Relation
- 4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control. Proceedings of the 4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control (Bertinoro, Italy 29-31 August, 2012) p. 60-65
- Publisher Link
- http://dx.doi.org/10.3182/20120829-3-IT-4022.00045
- Publisher
- International Federation of Automatic Control (IFAC)
- Resource Type
- conference paper
- Date
- 2012
- Description
- The problem of robustness improvement, vis à vis external disturbances, of energy shaping controllers for mechanical systems was addressed by the authors in a previous paper. It was shown that—if the inertia matrix is constant—constant disturbances (both, matched and unmatched) can be rejected simply adding a suitable integral action. For systems with non–constant inertia matrix and non–constant disturbances the controller, that adds nonlinear damping and gyroscopic forces terms, is quite complicated. The purpose of this paper is to show that, including a partial change of coordinates, the controller can be significantly simplified, achieving the same robustness property of input–to–state stability with respect to matched disturbances of the previous controller.
- Subject
- nonlinear control; passivity-based control; mechanical systems; robust stabilization; PI control
- Identifier
- http://hdl.handle.net/1959.13/1308804
- Identifier
- uon:21721
- Identifier
- ISBN:9783902823083
- Language
- eng
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