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

fYear

2009

fDate

10-12 June 2009

Firstpage

4680

Lastpage

4686

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;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2009. ACC '09.

Conference_Location

St. Louis, MO

ISSN

0743-1619

Print_ISBN

978-1-4244-4523-3

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2009.5159856

Filename

5159856