- Title
- Robustifying energy shaping control of mechanical systems
- Creator
- Romero, José Guadalupe; Donaire, Alejandro; Ortega, Romeo
- Relation
- 51st IEEE Conference on Decision and Control (CDC 2012). Proceedings of the 51st IEEE Conference on Decision and Control (Maui, HI 10-13 December, 2012) p. 4424-4429
- Publisher Link
- http://dx.doi.org/10.1109/CDC.2012.6425923
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2012
- Description
- The problem of robustness improvement, vis à vis external disturbances, of energy shaping controllers for mechanical systems is addressed in this paper. First, it is 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, additional damping and gyroscopic forces terms must be added to reject matched disturbances and, moreover, enforce the property of integral input-to-state stability with respect to matched disturbances. Finally, the stronger property of input-to-state stability, this time with respect to matched and unmatched disturbances, is ensured with further addition of nonlinear damping.
- Subject
- nonlinear control; passivity-based control; mechanical systems; robust stabilization; PI control
- Identifier
- http://hdl.handle.net/1959.13/1305485
- Identifier
- uon:21057
- Identifier
- ISBN:9781467320658
- Language
- eng
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