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

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.
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https://hal-supelec.archives-ouvertes.fr/hal-00934166
Contributor : Myriam Baverel <>
Submitted on : Tuesday, January 21, 2014 - 4:11:38 PM
Last modification on : Wednesday, September 16, 2020 - 4:42:49 PM

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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, ⟨10.1109/cdc.2013.6760350⟩. ⟨hal-00934166⟩

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