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.
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Submitted on : Tuesday, January 21, 2014 - 4:11:38 PM
Last modification on : Thursday, April 26, 2018 - 2:31:05 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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