6533b82bfe1ef96bd128e0d5
RESEARCH PRODUCT
Impulse-based hybrid motion control
Michael Rudermansubject
Physics0209 industrial biotechnologyFeedback control020208 electrical & electronic engineeringSystems and Control (eess.SY)02 engineering and technologyImpulse (physics)Motion controlZero crossingUpper and lower bounds020901 industrial engineering & automationControl theoryHybrid systemBounded functionFOS: Electrical engineering electronic engineering information engineering0202 electrical engineering electronic engineering information engineeringComputer Science - Systems and ControlControl parametersdescription
The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states, either relative position or velocity. In this paper, the proposed control method is extended to a general hybrid motion control form. We are using the paradigm of hybrid system modeling while explicitly specifying the state trajectories each time the continuous system state hits the guards that triggers impulsive control actions. The conditions for a stable convergence to zero equilibrium are derived in relation to the control parameters, while requiring only the upper bound of damping uncertainties to be known. Numerical examples are shown for an underdamped closed-loop dynamics with oscillating transients, an upper bounded time-varying positive system damping, and system with an additional Coulomb friction damping.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2017-01-01 | IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society |