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.
Original language | English |
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Title of host publication | Proceedings of the 2021 American Control Conference, ACC 2021 |
Place of Publication | Piscataway, NJ, USA |
Publisher | IEEE |
Pages | 4321-4326 |
ISBN (Electronic) | 978-1-6654-4197-1 |
DOIs | |
Publication status | Published - 2021 |
Event | 2021 American Control Conference, ACC 2021 - Virtual, New Orleans, United States Duration: 25 May 2021 → 28 May 2021 |
Conference
Conference | 2021 American Control Conference, ACC 2021 |
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Country/Territory | United States |
City | Virtual, New Orleans |
Period | 25/05/21 → 28/05/21 |
Bibliographical note
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-careOtherwise 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.