TY - GEN
T1 - Orbital stabilization for linear mechanical systems via a speed gradient algorithm
AU - Moyron, Jeronimo
AU - Moreno-Valenzuela, Javier
AU - Sandoval, Jesus
N1 - Publisher Copyright:
© 2021 Chinese Automation and Computing Society in the UK-CACSUK.
PY - 2021
Y1 - 2021
N2 - In some situations, it is useful to regulate the total energy function of a mechanical system to a constant value with the purpose of generating periodic motions. That is the case, for example, when a periodic motion is used to the fulfilment of a repetitive task. However, for mechanical systems with n degrees-of-freedom, regulation of the total energy function may not be sufficient by itself. In such situations, the regulation of more functions, closed-loop invariants, may be needed. As a simple solution to this problem, we design a control law in the principal coordinates of a linear mechanical system providing a sufficient quantity of such invariants. The proposed control scheme is based on a speed gradient algorithm added to a proportional term. We show that our controller can control the amplitude and frequency of periodic solutions in principal coordinates. Numerical simulations on a two degrees-of-freedom linear mechanical system are presented.
AB - In some situations, it is useful to regulate the total energy function of a mechanical system to a constant value with the purpose of generating periodic motions. That is the case, for example, when a periodic motion is used to the fulfilment of a repetitive task. However, for mechanical systems with n degrees-of-freedom, regulation of the total energy function may not be sufficient by itself. In such situations, the regulation of more functions, closed-loop invariants, may be needed. As a simple solution to this problem, we design a control law in the principal coordinates of a linear mechanical system providing a sufficient quantity of such invariants. The proposed control scheme is based on a speed gradient algorithm added to a proportional term. We show that our controller can control the amplitude and frequency of periodic solutions in principal coordinates. Numerical simulations on a two degrees-of-freedom linear mechanical system are presented.
KW - Energy
KW - control
KW - linear mechanical systems
KW - periodic motion
KW - speed gradient algorithm
UR - http://www.scopus.com/inward/record.url?scp=85123182887&partnerID=8YFLogxK
U2 - 10.23919/ICAC50006.2021.9594232
DO - 10.23919/ICAC50006.2021.9594232
M3 - Contribución a la conferencia
AN - SCOPUS:85123182887
T3 - 2021 26th International Conference on Automation and Computing: System Intelligence through Automation and Computing, ICAC 2021
BT - 2021 26th International Conference on Automation and Computing
A2 - Yang, Chenguang
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 26th International Conference on Automation and Computing, ICAC 2021
Y2 - 2 September 2021 through 4 September 2021
ER -