A class of n-degrees of freedom fully actuated mechanical systems subject to non-smooth impacts is considered, for which only the position coordinates are available for feedback. A family of compensators is proposed, by suitably modifying the Youla-KuÄera parameterization of all stabilizing compensators. By means of Liapunov techniques, it is proven that, under mild assumptions, all the compensators belonging to the proposed family guarantee the exponential stability of the origin (which corresponds to a condition of contact), and the BIBS (Bounded-Input Bounded-State) stability for the closed-loop system.
Menini, L., Tornambè, A. (2001). Modification of the Youla-Kucera parameterization for linear mechanical systems subject to non-smooth impacts. In Proceedings of the IEEE Conference on Decision and Control (pp.2580-2585). IEEE [10.1109/CDC.2001.980653].
Modification of the Youla-Kucera parameterization for linear mechanical systems subject to non-smooth impacts
Menini, Laura;Tornambè, Antonio
2001-01-01
Abstract
A class of n-degrees of freedom fully actuated mechanical systems subject to non-smooth impacts is considered, for which only the position coordinates are available for feedback. A family of compensators is proposed, by suitably modifying the Youla-KuÄera parameterization of all stabilizing compensators. By means of Liapunov techniques, it is proven that, under mild assumptions, all the compensators belonging to the proposed family guarantee the exponential stability of the origin (which corresponds to a condition of contact), and the BIBS (Bounded-Input Bounded-State) stability for the closed-loop system.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
