TY - JOUR
T1 - Global asymptotic stability of input-saturated one degree-of-freedom Euler–Lagrange systems with Rayleigh dissipation under nonlinear control
AU - Moreno-Valenzuela, Javier
AU - Moyrón, Jerónimo
AU - Martinez-Lopez, Mizraim
AU - Jiménez-Quiroz, Marco
N1 - Publisher Copyright:
© 2022 Informa UK Limited, trading as Taylor & Francis Group.
PY - 2023
Y1 - 2023
N2 - In this manuscript, the regulation of one degree-of-freedom Euler–Lagrange systems subject to input saturation is addressed. In particular, the design and analysis of a nonlinear static state feedback controller is presented. As a result, it is proven via Lyapunov's direct method that, in the presence of Rayleigh dissipation, the closed-loop equilibrium point is globally asymptotically stable with a strict Lyapunov function. Since saturation occurs in the system which contains the actuator model, the proposed control law is unconstrained and can be simplified to a proportional-derivative with desired gravity compensation algorithm. As a by-product global asymptotic stability is also proven for the case where Rayleigh dissipation is null. Numerical simulations on a crank-slider mechanism are presented. Moreover, experimental results on a DC-DC buck power converter are also shown and confirm the viability of our approach.
AB - In this manuscript, the regulation of one degree-of-freedom Euler–Lagrange systems subject to input saturation is addressed. In particular, the design and analysis of a nonlinear static state feedback controller is presented. As a result, it is proven via Lyapunov's direct method that, in the presence of Rayleigh dissipation, the closed-loop equilibrium point is globally asymptotically stable with a strict Lyapunov function. Since saturation occurs in the system which contains the actuator model, the proposed control law is unconstrained and can be simplified to a proportional-derivative with desired gravity compensation algorithm. As a by-product global asymptotic stability is also proven for the case where Rayleigh dissipation is null. Numerical simulations on a crank-slider mechanism are presented. Moreover, experimental results on a DC-DC buck power converter are also shown and confirm the viability of our approach.
KW - DC-DC power converters
KW - Euler–Lagrange systems
KW - global asymptotic stability
KW - input saturation
KW - real-time experiments
KW - strict Lyapunov function
UR - http://www.scopus.com/inward/record.url?scp=85131681001&partnerID=8YFLogxK
U2 - 10.1080/00207179.2022.2083688
DO - 10.1080/00207179.2022.2083688
M3 - Artículo
AN - SCOPUS:85131681001
SN - 0020-7179
VL - 96
SP - 2100
EP - 2112
JO - International Journal of Control
JF - International Journal of Control
IS - 8
ER -