文章基本信息

标题：Robust Tracking Control of Mechanical Hybrid Systems Driven by Electrical Actuators
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作者：Leonardo Herrera ; Yury Orlov ; Oscar Montaño 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：9106-9111
DOI：10.1016/j.ifacol.2020.12.2147
语种：English
出版社：Elsevier
摘要：AbstractThe 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.