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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Article dans une revue
IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2016, 61 (11), pp.3551-3556. 〈10.1109/tac.2016.2521725 〉
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Contributeur : Myriam Baverel <>
Soumis le : lundi 13 novembre 2017 - 14:20:19
Dernière modification le : jeudi 5 avril 2018 - 12:30:05

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J.G. Romero, Roméo Ortega, A. 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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