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arXiv · 1708.09562

Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems

Joel Ferguson·Alejandro Donaire·Romeo Ortega·Richard H. Middleton
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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.

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Joel Ferguson, Alejandro Donaire, Romeo Ortega, Richard H. Middleton. 2017-08-31. Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems. https://arxiv.org/abs/1708.09562

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