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Robust energy shaping control of mechanical systems without solving PDEs and extension to constant speed tracking

Abstract : In a recent contribution, it was shown that a class of mechanical systems, which contains many practical examples, can be stabilized via energy shaping without solving partial differential equations. The proposed controller consists of two terms, a partial linearizing state-feedback and a linear PID loop around two new passive outputs. In this brief note we prove that the first, admittedly non-robust, step can be obviated leaving only the linear PID. A second contribution of the note is to propose a slight modification to the controller to go beyond regulation tasks-being able to follow ramp references in the actuated coordinates.
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https://hal-centralesupelec.archives-ouvertes.fr/hal-01633842
Contributor : Myriam Baverel <>
Submitted on : Monday, November 13, 2017 - 2:20:19 PM
Last modification on : Wednesday, September 16, 2020 - 4:46:21 PM

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Jose Guadalupe Romero, Roméo Ortega, Alejandro Donaire. Robust energy shaping control of mechanical systems without solving PDEs and extension to constant speed tracking. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2016, 61 (11), pp.3551-3556. ⟨10.1109/tac.2016.2521725⟩. ⟨hal-01633842⟩

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