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
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;
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Print_ISBN :
0-7803-7924-1
DOI :
10.1109/CDC.2003.1272327
