Nonlinear H2 and H-infinity control formulated in the weighted Sobolev space for underactuated mechanical systems with input coupling

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dc.creatorDaniel N. Cardoso
dc.creatorSergio Esteban
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-04-17T17:22:22Z
dc.date.accessioned2025-09-09T00:57:17Z
dc.date.available2025-04-17T17:22:22Z
dc.date.issued2018
dc.identifier.doi10.1109/CDC.2018.8619199
dc.identifier.urihttps://hdl.handle.net/1843/81712
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofIEEE Conference on Decision and Control (CDC)
dc.rightsAcesso Restrito
dc.subjectGeometria diferencial
dc.subjectEquações diferenciais parciais
dc.subject.otherAerospace electronics , Mechanical systems , Couplings , Transient analysis , Optimal control , Steady-state , Mathematical model
dc.subject.otherMechanical Systems , Sobolev Space , Underactuated Systems , Input Coupling , Underactuated Mechanical Systems , Weighted Sobolev Space , Optimal Control , Numerical Experiments , Control Approach , Time Derivative , Transient Response , Control Theory , Variable Costs , Nonlinear Approach , Important Paradigm , Degrees Of Freedom , Optimization Problem , Cost Function , Weight Matrix , Control Input , Optimal Control Law , Nonlinear Control , Steady-state Performance , Compact Form , Constant Disturbance , Partial Differential Equations , External Disturbances , Class Of Systems , Riccati Equation , Inertia Matrix
dc.titleNonlinear H2 and H-infinity control formulated in the weighted Sobolev space for underactuated mechanical systems with input coupling
dc.typeArtigo de evento
local.citation.epage3812
local.citation.spage3812
local.description.resumoTwo important paradigms in control theory are the nonlinear H2 and H∞ control approaches. Despite many advantages, such approaches present limitations in the sense to control the transient closed-loop response. An interesting approach to address these issues is the formulation of both controllers in the Sobolev space Wm, p. However, the latter also presents drawbacks, now in sense of weighting the cost variable and its time derivatives component-wise. Therefore, aiming to deal with underactuated mechanical systems with input coupling, this work presents a new formulation of the nonlinear H2 and H∞ control approaches in the Weighted Sobolev space Wm, p,σ. It is also shown that for the particular systems treated in this work the W2 and W∞ optimal controllers are equivalent. In addition, a particular solution is proposed to the HJB and HJBI equations that arises from the problem formulation. The controller is corroborated by numerical experiments conducted with a quadrotor UAV.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/8619199

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