Abstract
The discrete-time robust disturbance attenuation problem for n-dof mechanical system with energy function uncertainty is considered. First, it is shown that the robust control problem of the n-dof mechanical systems can be reduced to the disturbance attenuation problem when a specific type of control rule is used. Then, the solution of robust disturbance attenuation problem via direct-discrete time design is given as a sufficient condition. Furthermore, a new method is presented using Quadratic Approximation Lemma to construct a discrete gradient of a general energy function. The proposed direct discrete-time design method is used to solve the robust disturbance attenuation problem for the double pendulum system. The simulation results are given for the discrete-gradient obtained with the method presented here.
Original language | English |
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Title of host publication | 2009 European Control Conference, ECC 2009 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 2277-2282 |
Number of pages | 6 |
ISBN (Electronic) | 9783952417393 |
DOIs | |
Publication status | Published - 26 Mar 2014 |
Event | 2009 10th European Control Conference, ECC 2009 - Budapest, Hungary Duration: 23 Aug 2009 → 26 Aug 2009 |
Publication series
Name | 2009 European Control Conference, ECC 2009 |
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Conference
Conference | 2009 10th European Control Conference, ECC 2009 |
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Country/Territory | Hungary |
City | Budapest |
Period | 23/08/09 → 26/08/09 |
Bibliographical note
Publisher Copyright:© 2009 EUCA.