- Title
- Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems
- Creator
- Ferguson, Joel; Donaire, Alejandro; Ortega, Romeo; Middleton, Richard H.
- Relation
- 2017 IEEE 56th Annual Conference on Decision and Control (CDC). Proceedings of the IEEE 56th Annual Conference on Decision and Control (Melbourne 12-15 December, 2017) p. 1484-1489
- Publisher Link
- http://dx.doi.org/10.1109/CDC.2017.8263862
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2017
- Description
- 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.
- Subject
- mechanical systems; closed loop systems; two dimensional displays; asymptotic stability; Australia; electronic mail
- Identifier
- http://hdl.handle.net/1959.13/1384592
- Identifier
- uon:32107
- Identifier
- ISBN:9781509028733
- Language
- eng
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