Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems

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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