Title :
P⋅SPR⋅D control and P⋅I⋅SPR⋅D control for affine nonlinear systems —Stabilization theory based on passivity—
Author :
Shimizu, Kiyotaka
Author_Institution :
Fac. of Syst. Design Eng., Keio Univ., Yokohama, Japan
Abstract :
This paper is concerned with set-point sevo problems by PldrSPRldrD control and PldrIldrSPRldrD control of affine nonlinear system which is of multi input and multi output. PldrSPRldrD control consists of proportional (P) action + strict positive real (SPR) action + derivative (D) action. Such control can asymptotically stabilize the affine nonlinear system being passive. Stability analysis of PldrSPRldrD control and PldrIldrSPRldrD control is made, based on the passivity theory and LaSalle´s invariance principle. The effectiveness of the proposed method is demonstrated by the simulation results for an elastic joint robot arm and TORA model.
Keywords :
MIMO systems; PD control; asymptotic stability; control system analysis; nonlinear control systems; three-term control; LaSalle invariance principle; PldrIldrSPRldrD control; PldrSPRldrD control; affine nonlinear system; asymptotic stabilization theory; multi input and multi output system; passivity theory; set-point sevo problem; stability analysis; Control systems; Equations; Nonlinear control systems; Nonlinear systems; PD control; Proportional control; Robots; Servomechanisms; Stability analysis; Three-term control;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5159856
