Nonlinear H2 and H∞ control formulated in the Sobolev space for mechanical systems

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dc.creatorDaniel Neri Cardoso
dc.creatorGuilherme Vianna Raffo
dc.creatorSergio Esteban
dc.date.accessioned2025-04-14T17:05:17Z
dc.date.accessioned2025-09-09T00:22:10Z
dc.date.available2025-04-14T17:05:17Z
dc.date.issued2018
dc.identifier.doihttps://doi.org/10.1016/j.ifacol.2018.11.088
dc.identifier.urihttps://hdl.handle.net/1843/81554
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof9th IFAC Symposium on Robust Control Design (ROCOND 2018)
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subjectSistemas não lineares
dc.subject.otherNonlinear systems, H2 control, H-infinity control, Sobolev space, Robust control, mechanical systems
dc.subject.othernonlinear H-infinity control design in robotic systems under parameter perturbation and external disturbance
dc.titleNonlinear H2 and H∞ control formulated in the Sobolev space for mechanical systems
dc.title.alternativeNonlinear H2 and H-infinity control formulated in the Sobolev space for mechanical systems
dc.typeArtigo de evento
local.citation.epage137
local.citation.spage132
local.description.resumoTwo important paradigms in control theory are the classic nonlinear H2 and H∞ control approaches. Their background theory are well developed, and several applications have demonstrated their efficiency. Despite many advantages, they suffer from deficiencies such as minimum settling-time and minimum overshoot. An interesting approach to solve these limitations is the formulation of both controllers in the Sobolev space. Thanks to the nature of the W - norm, the cost variable and its time derivatives are taken into account in the cost functional, leading to controllers with improved transient and steady-state performance. Thus, aiming to deal with mechanical systems this work reformulates the H2 and H∞ controllers in the Sobolev space. It is shown that, for particular systems, the W2 and W∞ optimal controllers are equivalent. An optimal solution for the class of fully actuated mechanical systems is proposed. 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://www.sciencedirect.com/science/article/pii/S2405896318327496

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