DocumentCode
2621056
Title
Regulation of 1DOF linear mechanical systems to a contact configuration for smooth or non-smooth impacts
Author
Galeani, S. ; Menini, L. ; Tornambe, Antonio
Author_Institution
Dip. di Informatica, Rome Univ., Italy
Volume
6
fYear
2003
fDate
9-12 Dec. 2003
Firstpage
6345
Abstract
In this paper, the regulation problem for IDOF linear mechanical systems in a contact situation is considered, taking into account the impact phenomena. The impacts are modelled both as smooth (using both the method of the penalizing functions and the barrier method) and non-smooth. Simulation tests show the performances of the proposed control laws, whose effectiveness has been demonstrated analytically.
Keywords
collision processes; control system synthesis; impact (mechanical); linear systems; mechanical contact; velocity control; 1DOF linear mechanical systems; control laws; impact phenomena; nonsmooth impacts; smooth impacts; Analytical models; Control design; Control systems; Control theory; Mechanical systems; Orbital robotics; Performance analysis; Performance evaluation; Robot kinematics; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7924-1
Type
conf
DOI
10.1109/CDC.2003.1272327
Filename
1272327
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