Kinetic-potential energy shaping for mechanical systems with applications to tracking

Title: Kinetic-potential energy shaping for mechanical systems with applications to tracking
Creator: Ferguson, Joel; Donaire, Alejandra; Middleton, Richard H.
Relation: IEEE Control Systems Letters Vol. 3, Issue 4, p. 960-965
Publisher Link: http://dx.doi.org/10.1109/LCSYS.2019.2919842
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2019
Description: In this letter, we propose a new closed-loop structure for mechanical systems with dissipation, controlled via energy shaping. The structure generalizes the well-established potential energy shaping technique by introducing a kinetic-potential function which has both configuration and momentum states as arguments. As a consequence of this generalization, dissipation terms are able to be added to the configuration coordinates of the system, resulting in both exponential stability and input-to-state stability (ISS) properties of the closed-loop. The developments are applied to the tracking problem where it is shown that the scheme is ISS with respect to friction modelling error.
Subject: stability of nonlinear systems; robust control; Lyapunov methods
Identifier: http://hdl.handle.net/1959.13/1464046
Identifier: uon:46898
Identifier: ISSN:2475-1456
Language: eng
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