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

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.
6th European Control Conference, ECC 2001
Seminario de Vilar, prt
2001
Directorate General XII of the European Commission
Rilevanza internazionale
Settore ING-INF/04 - Automatica
English
Lyapunov Design; PID Control; Robot Motion Control; Stabilization; Stabilization of Non-linear Systems; Control and Systems Engineering
Intervento a convegno
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..
Menini, L; Tornambè, A
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/2108/193633
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