Matched disturbance rejection for energy-shaping controlled\n underactuated mechanical systems

2017/08/31 by Joel Ferguson, Ferguson, Joel, Alejandro Donaire +5
Engineering · #Control and Stability of Dynamical Systems #Dynamics and Control of Mechanical Systems #FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.1708.09562

openalex publication_date 2017/08/31 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

In this paper, we present a method of applying integral action to enhance the\nrobustness of energy shaping controllers for underactuated mechanical systems\nwith matched disturbances. Previous works on this problem have required a\nnumber of technical assumptions to be satisfied, restricting the class of\nsystems for which the proposed solution applies. The design proposed in this\npaper relaxes some of these technical assumptions.\n

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