Title :
Exergy and irreversible entropy production thermodynamic concepts for control system design: robotic servo applications
Author :
Robinett, Rush D., III ; Wilson, David G.
Author_Institution :
Dept. of Energy, Infrastruct., & Knowledge Syst., Sandia Nat. Labs., Albuquerque, NM
Abstract :
This paper develops a novel control system design methodology that uniquely combines: concepts from thermodynamic exergy and entropy; Hamiltonian systems; Lyapunov´s direct method and Lyapunov optimal analysis; electric AC power concepts; and power flow analysis. Relationships are derived between exergy/entropy and Lyapunov optimal functions for Hamiltonian systems. The methodology is demonstrated with a few fundamental numerical simulation examples: 1) a Duffing oscillator/Coulomb friction nonlinear model that employs PID regulator control; and 2) a linear PID tracking servo control design for a translational single robot link system. The control system performances are partitioned and evaluated based on exergy generation and exergy dissipation terms. This novel nonlinear control methodology results in both necessary and sufficient conditions for stability of nonlinear systems
Keywords :
Lyapunov methods; control system synthesis; entropy; exergy; nonlinear control systems; robots; stability; three-term control; Coulomb friction nonlinear model; Duffing oscillator; Hamiltonian systems; Lyapunov optimal functions; PID regulator control; control system design; nonlinear control methodology; robotic servo applications; thermodynamic entropy; thermodynamic exergy; translational single robot link system; Control systems; Entropy; Nonlinear control systems; Optimal control; Production systems; Robot control; Servomechanisms; System analysis and design; Thermodynamics; Three-term control;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642265
