Passivity-based tracking controllers for mechanical systems with active disturbance rejection

Jose Guadalupe Romero, Alejandro Donaire, David Navarro Alarcon, Victor Ramirez

Research output: Journal article publicationConference articleAcademic researchpeer-review

7 Citations (Scopus)


The main purpose of this paper is to investigate the robustness of tracking controllers for mechanical systems vis-a-vis external disturbances. The controllers designed are obtained by modifying a change of coordinates recently proposed for robust energy shaping controller. This type of change of coordinates allows to assign damping in all the states when the closed loop is written in port-Hamiltonian form. This feature simplify the stability analysis by ensure that the Hamiltonian function is a strict Lyapunov function of the closed loop. Moreover, robustness of the closed loop against external disturbances is ensured. This result is also extended for mechanical systems interacting with elastic environments and linear deformation. The robust properties are preserved adding terms in the control law via the new change of coordinates.
Original languageEnglish
Pages (from-to)129-134
Number of pages6
Issue number13
Publication statusPublished - 1 Oct 2015
Externally publishedYes
Event5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNC 2015 - Lyon, France
Duration: 4 Jul 20157 Jul 2015


  • Mechanical systems
  • Passivity-based control
  • Robust stabilization
  • Trajectory tracking

ASJC Scopus subject areas

  • Control and Systems Engineering


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