Calzolari, Davide und Della Santina, Cosimo und Albu-Schäffer, Alin Olimpiu (2020) PD-like Regulation of Mechanical Systems with Prescribed Bounds of Exponential Stability: the Point-to-Point Case. IEEE Control Systems Letters, 5 (6). IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2020.3046538. ISSN 2475-1456.
PDF
- Preprintversion (eingereichte Entwurfsversion)
657kB |
Offizielle URL: https://ieeexplore.ieee.org/document/9302719
Kurzfassung
This letter discusses an extension of the famous PD regulator implementing point to point motions with prescribed exponential rates of convergence. This is achieved by deriving a novel global exponential stability result, dealing with mechanical systems evolving on uni-dimensional invariant manifolds of the configuration space. The construction of closed loop controllers enforcing the existence of such manifolds is then discussed. Explicit upper and lower bounds of convergence are provided, and connected to the gains of the closed loop controller. Simulations are carried out, assessing the effectiveness of the controller and the tightness of the exponential bounds.
elib-URL des Eintrags: | https://elib.dlr.de/140405/ | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | PD-like Regulation of Mechanical Systems with Prescribed Bounds of Exponential Stability: the Point-to-Point Case | ||||||||||||||||
Autoren: |
| ||||||||||||||||
Datum: | 22 Dezember 2020 | ||||||||||||||||
Erschienen in: | IEEE Control Systems Letters | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
Band: | 5 | ||||||||||||||||
DOI: | 10.1109/LCSYS.2020.3046538 | ||||||||||||||||
Herausgeber: |
| ||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
ISSN: | 2475-1456 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | PID control, Robotics, Lyapunov methods | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||||||
Hinterlegt am: | 28 Apr 2021 14:28 | ||||||||||||||||
Letzte Änderung: | 11 Sep 2023 13:23 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags