In this paper we propose a control scheme to induce optimal input allocation of dynamically redundant nonlinear actuators whose dynamics satisfies some suitable regularity and stability assumption. The allocation scheme is parametrized by a cost function associated with the most desirable actuator configuration and guarantees convergence to the desired set point as well as to the minimum of the cost function. The overall scheme is also shown to reduce, in some special cases, to a nonlinear version of a PI type of control action. The proposed technique is illustrated on a simulation example inspired by an industrial application. © 2012 AACC American Automatic Control Council).

Passenbrunner, T.e., Sassano, M., Zaccarian, L. (2012). Nonlinear setpoint regulation of dynamically redundant actuators. In Proceedings of the American Control Conference (pp.973-978).

Nonlinear setpoint regulation of dynamically redundant actuators

Sassano, M.;Zaccarian, L.
2012-01-01

Abstract

In this paper we propose a control scheme to induce optimal input allocation of dynamically redundant nonlinear actuators whose dynamics satisfies some suitable regularity and stability assumption. The allocation scheme is parametrized by a cost function associated with the most desirable actuator configuration and guarantees convergence to the desired set point as well as to the minimum of the cost function. The overall scheme is also shown to reduce, in some special cases, to a nonlinear version of a PI type of control action. The proposed technique is illustrated on a simulation example inspired by an industrial application. © 2012 AACC American Automatic Control Council).
Proceedings of the American Control Conference
Montreal, QC, can
2012
Adept MobileRobots
Rilevanza internazionale
2012
Settore ING-INF/04 - AUTOMATICA
English
Electrical and Electronic Engineering
Intervento a convegno
Passenbrunner, T.e., Sassano, M., Zaccarian, L. (2012). Nonlinear setpoint regulation of dynamically redundant actuators. In Proceedings of the American Control Conference (pp.973-978).
Passenbrunner, Te; Sassano, M; Zaccarian, L
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/211841
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