Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems
Systems and Control
2017-09-01 v1
Abstract
In this paper, we present a method of applying integral action to enhance the robustness of energy shaping controllers for underactuated mechanical systems with matched disturbances. Previous works on this problem have required a number of technical assumptions to be satisfied, restricting the class of systems for which the proposed solution applies. The design proposed in this paper relaxes some of these technical assumptions.
Keywords
Cite
@article{arxiv.1708.09562,
title = {Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems},
author = {Joel Ferguson and Alejandro Donaire and Romeo Ortega and Richard H. Middleton},
journal= {arXiv preprint arXiv:1708.09562},
year = {2017}
}
Comments
6 pages, 1 figure, accepted to CDC2017