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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 non–constant 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.
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https://hal-supelec.archives-ouvertes.fr/hal-00776855
Contributor : Myriam Baverel <>
Submitted on : Wednesday, January 16, 2013 - 1:01:43 PM
Last modification on : Wednesday, September 16, 2020 - 4:44:29 PM

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José Guadalupe Romero Velazquez, Alejandro Donaire, Roméo Ortega. Simplifying robust energy shaping controllers for mechanical systems via coordinate changes. LHMNLC 2012, Aug 2012, Bertinoro, Italy. pp.60-65, ⟨10.3182/20120829-3-IT-4022.00045⟩. ⟨hal-00776855⟩

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