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Conference Papers Year : 2012

Simplifying robust energy shaping controllers for mechanical systems via coordinate changes

Alejandro Donaire
  • Function : Author
Roméo Ortega
  • Function : Author
  • PersonId : 848065

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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Dates and versions

hal-00776855 , version 1 (16-01-2013)

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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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