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On Disturbance Attenuation Properties of Control Schemes for Euler-Lagrange Systems: Theoretical and Experimental Results

Scherpen, J. M. A., Ortega, R. & Escobar, G., 1996, Proceedings of the Workshop on Nonlinear and Adaptive Control. University of Groningen, Research Institute of Technology and Management, 21 p.

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In this note we analyse the (local) disturbance attenuation properties of some asymptotically stabilizing nonlinear controllers for Euler-Lagrange systems reported in the literature. Our objective with this study is twofold: first, to compare the performance of these schemes from a perspective different from stabilizability; second, to quantify the basic tradeoff between robust stability and robust performance for these designs. We consider passivity-based and feedback linearization schemes developed for the control of DC-to-DC converters and rigid robots. For the DC-to-DC problem we show that for both controllers there exists a lower bound to the achievable attenuation level, i.e. a lower bound to the L2-gain of the closed loop operator from disturbance to regulated output, which is independent of the design parameters. Also, for the passivity based scheme we obtain an upper bound for the disturbance attenuation, which is insured provided we sacrifice the convergence rate. For rigid robots we show that both approaches yield arbitrarily good disturbance attenuation without compromising the convergence rate. The results are verified and analysed for the DC-to-DC converter in an experimental set-up.
Original languageEnglish
Title of host publicationProceedings of the Workshop on Nonlinear and Adaptive Control
PublisherUniversity of Groningen, Research Institute of Technology and Management
Number of pages21
Publication statusPublished - 1996
EventWorkshop on Nonlinear and Adaptive Control, September 1996 -
Duration: 1-Jan-1996 → …

Conference

ConferenceWorkshop on Nonlinear and Adaptive Control, September 1996
Period01/01/1996 → …

Event

Workshop on Nonlinear and Adaptive Control, September 1996

01/01/1996 → …

Event: Conference

    Keywords

  • feedback linearization, passivity based control, nonlinear control, disturbances, Euler-Lagrange systems

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