Robust tracking control of mechanical hybrid systems driven by electrical actuators

Leonardo Herrera; Yury Orlov; Oscar Montaño; Luis T. Aguilar; Ramón I. Verdés

doi:10.1016/j.ifacol.2020.12.2147

Robust tracking control of mechanical hybrid systems driven by electrical actuators

Leonardo Herrera, Yury Orlov, Oscar Montaño, Luis T. Aguilar, Ramón I. Verdés

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Contribution to journal › Conference article › peer-review

1 Scopus citations

Abstract

The primary concern of the work is the robust synthesis of hybrid electromechanical systems, operating under unilateral position constraints. The synthesis relies on the nonlinear H_∞ paradigm to be extended in the presence of impact phenomena, perturbations in the continuous and discrete phases, and the dynamics of the electrical actuators that drive the motion of the system. Performance issues of the proposed nonlinear H_∞-controller are illustrated in an experimental study of an impacting inverted pendulum.

Original language	English
Pages (from-to)	9106-9111
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	53
DOIs	https://doi.org/10.1016/j.ifacol.2020.12.2147
State	Published - 2020
Event	21st IFAC World Congress 2020 - Berlin, Germany Duration: 12 Jul 2020 → 17 Jul 2020

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10.1016/j.ifacol.2020.12.2147

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title = "Robust tracking control of mechanical hybrid systems driven by electrical actuators",

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author = "Leonardo Herrera and Yury Orlov and Oscar Monta{\~n}o and Aguilar, {Luis T.} and Verd{\'e}s, {Ram{\'o}n I.}",

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AU - Orlov, Yury

AU - Montaño, Oscar

AU - Aguilar, Luis T.

AU - Verdés, Ramón I.

PY - 2020

Y1 - 2020

N2 - The primary concern of the work is the robust synthesis of hybrid electromechanical systems, operating under unilateral position constraints. The synthesis relies on the nonlinear H∞ paradigm to be extended in the presence of impact phenomena, perturbations in the continuous and discrete phases, and the dynamics of the electrical actuators that drive the motion of the system. Performance issues of the proposed nonlinear H∞-controller are illustrated in an experimental study of an impacting inverted pendulum.

AB - The primary concern of the work is the robust synthesis of hybrid electromechanical systems, operating under unilateral position constraints. The synthesis relies on the nonlinear H∞ paradigm to be extended in the presence of impact phenomena, perturbations in the continuous and discrete phases, and the dynamics of the electrical actuators that drive the motion of the system. Performance issues of the proposed nonlinear H∞-controller are illustrated in an experimental study of an impacting inverted pendulum.

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M3 - Artículo de la conferencia

AN - SCOPUS:85107643936

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JF - IFAC-PapersOnLine

T2 - 21st IFAC World Congress 2020

Y2 - 12 July 2020 through 17 July 2020

ER -

Robust tracking control of mechanical hybrid systems driven by electrical actuators

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