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PD-like Regulation of Mechanical Systems with Prescribed Bounds of Exponential Stability: the Point-to-Point Case

Calzolari, Davide and Della Santina, Cosimo and 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.

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Official URL: https://ieeexplore.ieee.org/document/9302719

Abstract

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.

Item URL in elib:https://elib.dlr.de/140405/
Document Type:Article
Title:PD-like Regulation of Mechanical Systems with Prescribed Bounds of Exponential Stability: the Point-to-Point Case
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Calzolari, DavideUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115855
Date:22 December 2020
Journal or Publication Title:IEEE Control Systems Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:5
DOI:10.1109/LCSYS.2020.3046538
Editors:
EditorsEmailEditor's ORCID iDORCID Put Code
UNSPECIFIEDIEEEUNSPECIFIEDUNSPECIFIED
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2475-1456
Status:Published
Keywords:PID control, Robotics, Lyapunov methods
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:28 Apr 2021 14:28
Last Modified:11 Sep 2023 13:23

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