The paper deals with a mechanical system, subject to smooth impacts with external objects, actuated only along the contact coordinates involved in the impacts. The considered control problem is the development of a control law, to be used both in free motion and during contact, that asymptotically leads the system in a contact condition with the external objects, corresponding to zero exchanged contact forces. Two control solutions are proposed, by using only the contact coordinates and their time derivatives as outputs of the system: a pure static output feedback algorithm, and a dynamic controllers family. The stability properties of the closed-loop systems thus obtained are analytically proven, and confirmed by simulation results.

Indri, M., Tornambè, A. (2004). Control of under-actuated mechanical systems subject to smooth impacts. In Proceedings of the IEEE Conference on Decision and Control (pp.1228-1233). IEEE [10.1109/CDC.2004.1430209].

Control of under-actuated mechanical systems subject to smooth impacts

Tornambè, Antonio
2004-01-01

Abstract

The paper deals with a mechanical system, subject to smooth impacts with external objects, actuated only along the contact coordinates involved in the impacts. The considered control problem is the development of a control law, to be used both in free motion and during contact, that asymptotically leads the system in a contact condition with the external objects, corresponding to zero exchanged contact forces. Two control solutions are proposed, by using only the contact coordinates and their time derivatives as outputs of the system: a pure static output feedback algorithm, and a dynamic controllers family. The stability properties of the closed-loop systems thus obtained are analytically proven, and confirmed by simulation results.
2004 43rd IEEE Conference on Decision and Control (CDC)
Nassau, bhs
2004
IEEE Control Systems Society
Rilevanza internazionale
2004
Settore ING-INF/04 - AUTOMATICA
English
Control and Systems Engineering; Modeling and Simulation; Control and Optimization
Intervento a convegno
Indri, M., Tornambè, A. (2004). Control of under-actuated mechanical systems subject to smooth impacts. In Proceedings of the IEEE Conference on Decision and Control (pp.1228-1233). IEEE [10.1109/CDC.2004.1430209].
Indri, M; Tornambè, A
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/193565
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