Robust globally exponentially stable control for mechanical systems in free/constrained-motion tasks

J.G. Romero D. Navarro-Alarcon Elena Panteley 1
1 Division Systèmes - L2S
L2S - Laboratoire des signaux et systèmes : 1289
Abstract : In this paper, we address the global exponential stability problem of perturbed mechanical systems in free-motion and interacting with passive environments. Particularly, we are interested in incorporating an exponentially stable response to a robust passivity-based control design. We formulate and analyse the stability of the proposed controllers based on the port-Hamiltonian framework. One of the novelties of the presented control design, is that exponential stability is achieved without removing the natural non-linearity of the mechanical system. To the best of our knowledge, this is the first time an exponentially stable controller is reported with this passivity-based method.
Type de document :
Communication dans un congrès
52nd IEEE Conference on Decision and Control CDC 2013, Dec 2013, Florence, Italy. pp.1-6, 2013, 〈10.1109/cdc.2013.6760350 〉
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https://hal-supelec.archives-ouvertes.fr/hal-00934166
Contributeur : Myriam Baverel <>
Soumis le : mardi 21 janvier 2014 - 16:11:38
Dernière modification le : jeudi 5 avril 2018 - 12:30:23

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J.G. Romero, D. Navarro-Alarcon, Elena Panteley. Robust globally exponentially stable control for mechanical systems in free/constrained-motion tasks. 52nd IEEE Conference on Decision and Control CDC 2013, Dec 2013, Florence, Italy. pp.1-6, 2013, 〈10.1109/cdc.2013.6760350 〉. 〈hal-00934166〉

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