Title :
Global stabilization of uncertain mechanical systems with bounded controls
Author :
Barany, Ernest ; Colbaugh, Richard
Author_Institution :
Dept. of Math. Sci., New Mexico State Univ., Las Cruces, NM, USA
Abstract :
This paper considers the problem of globally stabilizing a mechanical system with unknown potential and inertial structure and without the need for velocity measurements or large forces. We first consider two large classes of dynamical controllers and show that in a sense the goals of stabilization without system details and without velocity measurement it is incompatible with the requirement of global stabilization without large forces. To solve this problem we turn to a hybrid strategy where we combine an effective stabilization strategy using bounded controls with a semiglobal large force PID-type controller
Keywords :
asymptotic stability; damping; dynamics; feedback; robust control; three-term control; uncertain systems; PID controller; asymptotic stability; bounded controls; damping; dynamics; feedback; global stabilization; inertial structure; uncertain mechanical systems; Control systems; Damping; Feedback; Force control; Force measurement; Lagrangian functions; Mechanical systems; Three-term control; Velocity control; Velocity measurement;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.703020