- Title
- Robust energy shaping for mechanical systems with dissipative forces and disturbances
- Creator
- Teimoorzadeh, Ainoor; Donaire, Alejandro; Arpenti, Pierluigi; Ruggiero, Fabio
- Relation
- 2022 European Control Conference (ECC). Proceedings of the 2022 European Control Conference (ECC) (London, UK 12-15 July, 2022) p. 1409-1414
- Publisher Link
- http://dx.doi.org/10.23919/ECC55457.2022.9838430
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2022
- Description
- This paper presents a novel energy shaping-based integral action for mechanical systems with unknown dissipative forces and matched disturbances. The proposed approach builds on the simultaneous interconnection and damping assignment method and takes advantage of the representation of the dissipative forces in the port-Hamiltonian dynamics. We consider dissipative forces that cannot be written in the classical dissipation structure of the port-Hamiltonian systems. We show that the proposed design ensures the stability of the equilibrium and is robust against dissipative force uncertainty, and rejects constant matched disturbances. Two case studies are presented, and simulation results show the closed-loop performance.
- Subject
- damping; uncertainty; simulation; force; dynamics; Europe; manipulators
- Identifier
- http://hdl.handle.net/1959.13/1489607
- Identifier
- uon:52733
- Identifier
- ISBN:9781665497336
- Rights
- © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
- Language
- eng
- Full Text
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