Ponencia
Nonlinear H∞ Measurement Feedback Control of Euler-Lagrange Systems
Autor/es | Vivas Venegas, Carlos
Rodríguez Rubio, Francisco |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2005 |
Fecha de depósito | 2021-01-21 |
Publicado en |
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ISBN/ISSN | 2405-8963 |
Resumen | This paper considers the problem of designing explicit measurement feedback H∞ control laws for a class of Euler-Lagrange systems. For these systems the joint positions are assumed as outputs of the system, while velocity ... This paper considers the problem of designing explicit measurement feedback H∞ control laws for a class of Euler-Lagrange systems. For these systems the joint positions are assumed as outputs of the system, while velocity measures are to be estimated from an observer+controller structure. The main contribution of this work lies in the explicit formulation of the dynamic structure of a joined observer+controller that guarantees local asymptotic stability as well as attenuation of disturbances according to an H∞ framework. In order to illustrate this methodology experimental results are shown on a 2 dof gyrostabilized platform. |
Cita | Vivas Venegas, C. y Rodríguez Rubio, F. (2005). Nonlinear H∞ Measurement Feedback Control of Euler-Lagrange Systems. En IFAC World Congress (391-396), Praga (República Checa): Elsevier. |
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