Robust energy shaping control of mechanical systems

Romero, José Guadalupe; Donaire, Alejandro; Ortega, Roméo

doi:10.1016/j.sysconle.2013.05.011

Cited by 91 publications

(129 citation statements)

References 6 publications

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“…In the case of matched disturbances, the simple addition of integral action to passive outputs may solve the problem [7]. However, for unmatched disturbances or mechanical systems with matched disturbances, the addition of integral action is more involved [ [6], [10]. This approach of integral action depends on a, possibly implicit, partial coordinate transformation of the states.…”

Section: Introductionmentioning

confidence: 99%

Disturbance rejection via control by interconnection of port-Hamiltonian systems

Ferguson

Middleton

Donaire

2015

2015 54th IEEE Conference on Decision and Control (CDC)

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In this paper we present a new result on rejection of unmatched external disturbances on port-Hamiltonian systems using Control by Interconnection (CbI). The PHS structure is used to design a controller that rejects unmatched constant disturbances from non-passive outputs. In the PHS framework, the disturbance rejection problem has been addressed adding integral action and using a change of coordinates. In our approach, we avoid a change of coordinates keeping the original state vector, which contains variables with physical interpretation. The methodology proposed in this paper is illustrated on an electrical circuit and on a permanent magnet synchronous motor. Simulation of the later example shows the performance of the control design.

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Section: Introductionmentioning

confidence: 99%

Disturbance rejection via control by interconnection of port-Hamiltonian systems

Ferguson

Middleton

Donaire

2015

2015 54th IEEE Conference on Decision and Control (CDC)

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“…However, the resulting controller (for the system of augmented dimension) is not implementable via output-feedback since it must satisfy a mechanical constraint whose verification requires the knowledge of the unmeasured velocities. During the preparation of this final manuscript we became aware of [23] where the author presents a global result for Hamiltonian systems which relies on a clever but intricate observer-design and a change of coordinates that involves the computation of the square root of D(q) −1 .…”

Section: Introductionmentioning

confidence: 99%

Uniform global position feedback tracking control of mechanical systems without friction

Lorı́a¹

2013

2013 American Control Conference

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Abstract-We establish, as far as we know, the first proof of uniform global asymptotic stability for a mechanical system (Euler-Lagrange) in closed loop with a dynamic controller which makes use only of position measurements. The controller is fairly simple, it is reminiscent of the so-called PadenPanja controller [20] where unavailable generalized velocities are replaced by approximate differentiation (dirty derivatives). The controller has been reported previously however, only semiglobal 1 asymptotic stability has been established so far. The novelty of this paper relies in establishing a global property as well as in the method of proof, which does not follow Lyapunov's. However, the problem of finding a strict control Lyapunov function remains open.

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“…The authors studied IDA-PBC controller robustness against parameter uncertainties. Recently Romero et al (J. G. Romero (2013)) improved the robustness vis-à-vis external disturbances, of energy shaping controllers for fully actuated mechanical systems. They design a dynamic state feedback controller such that the closed-loop system ensures some stability properties in spite of the presence of external disturbances.…”

Section: International Journal Of Control Paper1˙aoutcormentioning

confidence: 99%

Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments

Haddad

Chemori

Belghith

2017

International Journal of Control

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Improving the robustness, vis-à-vis matched input disturbances of IDA-PBC (Interconnection Damping Assignment, Passivity Based Control) for a class of underactuated mechanical systems is addressed in this paper. The characterized class of systems is the one for which IDA-PBC yields a smooth stabilizing controller. Our main contribution consists in combining the so-called IDA-PBC controller with an adaptive control technique. Some sufficient stability conditions on matched input disturbances are given. The comparison of the stability robustness between the classical controller IDA-PBC and the proposed one is then provided. As illustration we propose to revisit the application of IDA-PBC controller to the Inertia Wheel Inverted Pendulum (IWIP) in the presence of matched disturbances. Simulation and real-time experimental results are presented as validations of the theoretical results.

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Robust energy shaping control of mechanical systems

Cited by 91 publications

References 6 publications

Disturbance rejection via control by interconnection of port-Hamiltonian systems

Disturbance rejection via control by interconnection of port-Hamiltonian systems

Uniform global position feedback tracking control of mechanical systems without friction

Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments

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