A globally exponentially stable tracking controller for mechanical systems using position feedback

J. Romero , I. Sarras , Roméo Ortega (1)

1 L2S - Laboratoire des signaux et systèmes

A solution to the problem of global exponential tracking of mechanical systems without velocity measurements is given in the paper. The proposed controller is obtained combining a recently reported exponentially stable immersion and invariance observer and a suitably designed state-feedback passivity-based controller, which assigns to the closed-loop a port-Hamiltonian structure with a desired energy function. The result is applicable to a large class of mechanical systems and, in particular, no assumptions are made on the presence-and exact knowledge-of friction forces.

Domaines: Automatique; Automatique / Robotique

J. Romero, I. Sarras, Roméo Ortega. A globally exponentially stable tracking controller for mechanical systems using position feedback. 2013 IEEE American Control Conference ACC, Jun 2013, Washington, United States. pp.4969 - 4974, ⟨10.1109/acc.2013.6580609⟩. ⟨hal-00929864⟩