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ECOLE SUPÉRIEURE D'ÉLECTRICITÉ Une grande école d'ingénieurs au cœur des sciences de l'information,de l'énergie et des systèmes |
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Conference papers
Simplifying robust energy shaping controllers for mechanical systems via coordinate changes
Abstract : The problem of robustness improvement, vis 'a vis external disturbances, of energy shaping controllers for mechanical systems was addressed by the authors in a previous paper. It was 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 nonconstant inertia matrix and non-constant disturbances the controller, that adds nonlinear damping and gyroscopic forces terms, is quite complicated. The purpose of this paper is to show that, including a partial change of coordinates, the controller can be significantly simplified, achieving the same robustness property of input--to-state stability with respect to matched and unmatched disturbances of the previous controller.
https://hal-supelec.archives-ouvertes.fr/hal-00776855
Contributor : Myriam Baverel Connect in order to contact the contributor
Submitted on : Wednesday, January 16, 2013 - 1:01:43 PM
Last modification on : Thursday, June 17, 2021 - 3:48:05 AM
Contributor : Myriam Baverel Connect in order to contact the contributor
Submitted on : Wednesday, January 16, 2013 - 1:01:43 PM
Last modification on : Thursday, June 17, 2021 - 3:48:05 AM