Loading [a11y]/accessibility-menu.js
Energy Shaping of Mechanical Systems via PID Control and Extension to Constant Speed Tracking | IEEE Journals & Magazine | IEEE Xplore

Energy Shaping of Mechanical Systems via PID Control and Extension to Constant Speed Tracking


Abstract:

In a recent contribution, it was shown that a class of mechanical systems, which contains many practical examples, can be stabilized via energy shaping without solving pa...Show More

Abstract:

In a recent contribution, it was shown that a class of mechanical systems, which contains many practical examples, can be stabilized via energy shaping without solving partial differential equations. The proposed controller consists of two terms, a partial linearizing state-feedback and a linear PID loop around two new passive outputs. In this brief note we prove that the first, admittedly non-robust, step can be obviated leaving only the linear PID. A second contribution of the note is to propose a slight modification to the controller to go beyond regulation tasks-being able to follow ramp references in the actuated coordinates.
Published in: IEEE Transactions on Automatic Control ( Volume: 61, Issue: 11, November 2016)
Page(s): 3551 - 3556
Date of Publication: 26 January 2016

ISSN Information:


Contact IEEE to Subscribe

References

References is not available for this document.