Nonlinear state feedback H-infinity-control of mechanical systems under unilateral constraints

Oscar Eduardo Montaño Godinez (1) , Yuri Orlov (2) , Yannick Aoustin (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 CICESE - Centro de Investigacion Cientifica y de Education Superior de Ensenada [Mexico]

The work focuses on the state feedback synthesis of hybrid mechanical systems under unilateral constraints. The problem of robust control of mechanical systems is addressed under unilateral constraints by designing a nonlinear state feedback H-infinity-controller developed in the hybrid setting, covering impact phenomena. Performance issues of the developed nonlinear H-infinty-tracking controller are illustrated with numerical tests on a seven-link biped robot.

Mots clés: hybrid systems; robust control; tracking; mechanical systems; biped; walking gait

Domaines: Automatique / Robotique

Oscar Eduardo Montaño Godinez, Yuri Orlov, Yannick Aoustin. Nonlinear state feedback H-infinity-control of mechanical systems under unilateral constraints. 2014. ⟨hal-01053182⟩