Stabilization of simple mechanical systems subject to inequality constraints

Author

Menini, L. ; Tornambe, A.

Author_Institution

Dip. di Inf., Sist. e Produzione - Univ. di Roma Tor, Rome, Italy

fYear

2001

fDate

4-7 Sept. 2001

Firstpage

457

Lastpage

462

Abstract

The problem of stabilizing a contact configuration of a one-degree-of-freedom mechanical system subject to a single inequality constraint is considered. By means of Lyapunov techniques it is shown that a PD-like state feedback control law achieves exponential stability and BIBS stability of the desired equilibrium, for either elastic or inelastic impacts. Apart from the theoretical result, simulations and experiments confirm the satisfactory behaviour of the proposed control law.

Keywords

Lyapunov methods; PD control; asymptotic stability; impact (mechanical); state feedback; BIBS stability; Lyapunov techniques; PD-like state feedback control law; contact configuration stabilization; elastic impact; exponential stability; inelastic impact; inequality constraints; one-degree-of-freedom mechanical system; simple mechanical system stabilization; single inequality constraint; Closed loop systems; Equations; Force; Kinetic energy; Mathematical model; Mechanical systems; Lyapunov Design; PID Control; Robot Motion Control; Stabilization; Stabilization of Non-linear Systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2001 European

Conference_Location

Porto

Print_ISBN

978-3-9524173-6-2

Type

conf

Filename

7075949