Energy shaping of mechanical systems via PID control and extension to constant speed tracking

Title: Energy shaping of mechanical systems via PID control and extension to constant speed tracking
Creator: Romero, Jose Guadalupe; Ortega, Romeo; Donaire, Alejandro
Relation: IEEE Transactions on Automatic Control Vol. 61, Issue 11, p. 3551-3556
Publisher Link: http://dx.doi.org/10.1109/TAC.2016.2521725
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2016
Description: 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.
Subject: tracking; mechanical systems; nonlinear systems; stabilisation
Identifier: http://hdl.handle.net/1959.13/1325657
Identifier: uon:25324
Identifier: ISSN:0018-9286
Language: eng
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