The problem of stabilizing a contact configuration of a one-degree-of-freedom mechanical system subject to a single inequality constraint is considered. By means of Lyapunov techniques it is shown that a PD-like state feedback control law achieves exponential stability and BIBS stability of the desired equilibrium, for either elastic or inelastic impacts. Apart from the theoretical result, simulations and experiments confirm the satisfactory behaviour of the proposed control law.
Menini, L., Tornambè, A. (2001). Stabilization of simple mechanical systems subject to inequality constraints. In 2001 European Control Conference, ECC 2001 (pp.457-462). Institute of Electrical and Electronics Engineers Inc..
Stabilization of simple mechanical systems subject to inequality constraints
Menini, L.;Tornambè, A.
2001-01-01
Abstract
The problem of stabilizing a contact configuration of a one-degree-of-freedom mechanical system subject to a single inequality constraint is considered. By means of Lyapunov techniques it is shown that a PD-like state feedback control law achieves exponential stability and BIBS stability of the desired equilibrium, for either elastic or inelastic impacts. Apart from the theoretical result, simulations and experiments confirm the satisfactory behaviour of the proposed control law.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
