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

José Guadalupe Romero; David Navarro Alarcon; Elena Panteley

doi:10.1109/CDC.2013.6760350

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

José Guadalupe Romero, David Navarro Alarcon, Elena Panteley

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

6 Citations (Scopus)

Abstract

In this paper, we address the global exponential stability problem of perturbed mechanical systems in freemotion 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 passivitybased method.

Original language	English
Title of host publication	2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
Publisher	IEEE
Pages	3067-3072
Number of pages	6
ISBN (Print)	9781467357173
DOIs	https://doi.org/10.1109/CDC.2013.6760350
Publication status	Published - 1 Jan 2013
Externally published	Yes
Event	52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy Duration: 10 Dec 2013 → 13 Dec 2013

Conference

Conference	52nd IEEE Conference on Decision and Control, CDC 2013
Country/Territory	Italy
City	Florence
Period	10/12/13 → 13/12/13

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

More information

10.1109/CDC.2013.6760350

Cite this

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Romero, JG, Navarro Alarcon, D & Panteley, E 2013, Robust globally exponentially stable control for mechanical systems in free/constrained-motion tasks. in 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013., 6760350, IEEE, pp. 3067-3072, 52nd IEEE Conference on Decision and Control, CDC 2013, Florence, Italy, 10/12/13. https://doi.org/10.1109/CDC.2013.6760350

Robust globally exponentially stable control for mechanical systems in free/constrained-motion tasks. / Romero, José Guadalupe; Navarro Alarcon, David; Panteley, Elena.
2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013. IEEE, 2013. p. 3067-3072 6760350.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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

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