Controlled synchronization of mechanical systems with a unilateral constraint

Baumann, Michael; Biemond, J. J Benjamin; Leine, Remco I.; van de Wouw, N.

doi:10.1016/j.ifacol.2016.10.188

Controlled synchronization of mechanical systems with a unilateral constraint

Title

Controlled synchronization of mechanical systems with a unilateral constraint

Author

Baumann, Michael (ETH Zürich)
Biemond, J. J Benjamin (Katholieke Universiteit Leuven)
Leine, Remco I. (University of Stuttgart)
van de Wouw, N. (TU Delft Team Bart De Schutter; Eindhoven University of Technology; University of Minnesota)

Contributor

Teel, Andrew (editor)

Date

2016

Abstract

This paper addresses the controlled synchronization problem of mechanical systems subjected to a geometric unilateral constraint as well as the design of a switching coupling law to obtain synchronization. To define the synchronization problem, we propose a distance function induced by the quotient metric, which is based on an equivalence relation using the impact map. A Lyapunov function is constructed to investigate the synchronization problem for two identical one-dimensional mechanical systems. Sufficient conditions for the individual systems and their controlled interaction are provided under which synchronization can be ensured. We present a (coupling) control law which ensures global synchronization, also in the presence of grazing trajectories and accumulation points (Zeno behavior). The results are illustrated using a numerical example.

Subject

hybrid systems
Lyapunov stability
measure differential inclusions
Synchronization
unilateral constraints

To reference this document use:

http://resolver.tudelft.nl/uuid:e26a7641-40e8-4215-8e11-16ca7909f23e

DOI

https://doi.org/10.1016/j.ifacol.2016.10.188

Publisher

Elsevier, Laxenburg, Austria

Source

IFAC-PapersOnLine: Proceedings 10th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2016)

Event

10th IFAC Symposium on Nonlinear Control Systems, 2016-08-23 → 2016-08-25, Monterey, United States