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 proceedingConference article published in proceeding or bookAcademic researchpeer-review

6 Citations (Scopus)


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 languageEnglish
Title of host publication2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
Number of pages6
ISBN (Print)9781467357173
Publication statusPublished - 1 Jan 2013
Externally publishedYes
Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
Duration: 10 Dec 201313 Dec 2013


Conference52nd IEEE Conference on Decision and Control, CDC 2013

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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