PD-like Regulation of Mechanical Systems with Prescribed Bounds of Exponential Stability

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

Calzolari, Davide (Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR); Technische Universität München)
Della Santina, C. (TU Delft Learning & Autonomous Control; Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR))
Albu-Schaffer, Alin (Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR); Technische Universität München)

2021

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.

http://resolver.tudelft.nl/uuid:b6af4855-7b7c-49e9-a6f4-53cb7b13bb5c

https://doi.org/10.23919/ACC50511.2021.9482884

IEEE, Piscataway, NJ, USA

2022-01-28

978-1-6654-4197-1

Proceedings of the 2021 American Control Conference, ACC 2021

2021 American Control Conference, ACC 2021, 2021-05-25 → 2021-05-28, Virtual, New Orleans, United States

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

conference paper

© 2021 Davide Calzolari, C. Della Santina, Alin Albu-Schaffer