On Matched Disturbance Suppression for Port-Hamiltonian Systems

Title: On Matched Disturbance Suppression for Port-Hamiltonian Systems
Creator: Ferguson, Joel; Wu, Dongjun; Ortega, Romeo
Relation: IEEE Control Systems Letters Vol. 4, Issue 4, p. 892-897
Publisher Link: http://dx.doi.org/10.1109/LCSYS.2020.2994262
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2020
Description: In this letter, we consider the robustification of port-Hamiltonian systems with respect to matched time-varying disturbances generated by an exo-system, which is assumed to be known. This letter is an extension, to the case of time-varying disturbances, of recent integral action techniques, which are able to reject constant disturbances only. The approach is then extended to the special case of sinusoidal disturbances with unknown frequency. The main results of this letter are demonstrated on a 2 degree-of-freedom robotic manipulator.
Subject: observers; frequency estimation; iron; robustness; time-varying systems; damping; convergence
Identifier: http://hdl.handle.net/1959.13/1437672
Identifier: uon:40424
Identifier: ISSN:2475-1456
Language: eng
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