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

Davide Calzolari, Cosimo Della Santina, Alin Albu-Schaffer

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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 languageEnglish
Title of host publicationProceedings of the 2021 American Control Conference, ACC 2021
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages4321-4326
ISBN (Electronic)978-1-6654-4197-1
DOIs
Publication statusPublished - 2021
Event2021 American Control Conference, ACC 2021 - Virtual, New Orleans, United States
Duration: 25 May 202128 May 2021

Conference

Conference2021 American Control Conference, ACC 2021
CountryUnited States
CityVirtual, New Orleans
Period25/05/2128/05/21

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-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.

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