Robust globally exponentially stable control for mechanical systems in free/constrained-motion tasks

Authors

Jose Guadalupe Romero, David Navarro-Alarcon, Elena Panteley

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.

Citation

• Journal: 52nd IEEE Conference on Decision and Control
• Year: 2013
• Volume:
• Issue:
• Pages: 3067–3072
• Publisher: IEEE
• DOI: 10.1109/cdc.2013.6760350

BibTeX

@inproceedings{Romero_2013,
  title={{Robust globally exponentially stable control for mechanical systems in free/constrained-motion tasks}},
  DOI={10.1109/cdc.2013.6760350},
  booktitle={{52nd IEEE Conference on Decision and Control}},
  publisher={IEEE},
  author={Romero, Jose Guadalupe and Navarro-Alarcon, David and Panteley, Elena},
  year={2013},
  pages={3067--3072}
}

Download the bib file

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