The goal of the paper is to extend some previous results concerned with state feedback stabilisation of mechanical systems subject to nonsmooth impacts, to the case when only position measurements are available for feedback. Fully actuated n-degrees-of-freedom mechanical systems are considered (whereas earlier studies considered only one-degree-of-freedom systems) whose dynamics would be linear in the absence of the inequality constraint delimiting the admissible region. For such systems, a class of compensators that ensures exponential and BIBS stabilisation (without using velocity measurements, which were requested in earlier studies) is proposed and their efficacy is proven by means of Lyapunov techniques. Simulations and experimental results are included to show the effectiveness of the theory presented.

Menini, L., & Tornambè, A. (2001). Dynamic position feedback stabilisation of multidegrees-of-freedom linear mechanical systems subject to nonsmooth impacts. IEE PROCEEDINGS. CONTROL THEORY AND APPLICATIONS, 148(6), 488-496 [10.1049/ip-cta:20010713].

Dynamic position feedback stabilisation of multidegrees-of-freedom linear mechanical systems subject to nonsmooth impacts

Menini, L.;Tornambè, A.
2001

Abstract

The goal of the paper is to extend some previous results concerned with state feedback stabilisation of mechanical systems subject to nonsmooth impacts, to the case when only position measurements are available for feedback. Fully actuated n-degrees-of-freedom mechanical systems are considered (whereas earlier studies considered only one-degree-of-freedom systems) whose dynamics would be linear in the absence of the inequality constraint delimiting the admissible region. For such systems, a class of compensators that ensures exponential and BIBS stabilisation (without using velocity measurements, which were requested in earlier studies) is proposed and their efficacy is proven by means of Lyapunov techniques. Simulations and experimental results are included to show the effectiveness of the theory presented.
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-INF/04 - Automatica
English
Control and Systems Engineering; Instrumentation; Electrical and Electronic Engineering
Menini, L., & Tornambè, A. (2001). Dynamic position feedback stabilisation of multidegrees-of-freedom linear mechanical systems subject to nonsmooth impacts. IEE PROCEEDINGS. CONTROL THEORY AND APPLICATIONS, 148(6), 488-496 [10.1049/ip-cta:20010713].
Menini, L; Tornambè, A
Articolo su rivista
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/2108/193597
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 11
  • ???jsp.display-item.citation.isi??? 8
social impact