TY - JOUR
T1 - Pd control for active vibration damping in an underactuated nonlinear system
AU - Aguilar-Ibanez, Carlos
AU - Sira-Ramirez, Sira
PY - 2002
Y1 - 2002
N2 - A Lyapunov based control approach is proposed for the specification of the constant gains of an asymptotically stabilizing Proportional-Derivative (PD) controller, devised to damp the oscillations of an underactuated nonlinear mechanical system. The system consists of a rigid beam, sliding on the interior of a spherical surface, and an actuated cart, located over the beam, which acts as an active vibration damping element.
AB - A Lyapunov based control approach is proposed for the specification of the constant gains of an asymptotically stabilizing Proportional-Derivative (PD) controller, devised to damp the oscillations of an underactuated nonlinear mechanical system. The system consists of a rigid beam, sliding on the interior of a spherical surface, and an actuated cart, located over the beam, which acts as an active vibration damping element.
KW - Lyapunov-based control
KW - Proportional-derivative control
KW - Vibration damping
UR - http://www.scopus.com/inward/record.url?scp=0036979505&partnerID=8YFLogxK
U2 - 10.1111/j.1934-6093.2002.tb00091.x
DO - 10.1111/j.1934-6093.2002.tb00091.x
M3 - Artículo
SN - 1561-8625
VL - 4
SP - 502
EP - 508
JO - Asian Journal of Control
JF - Asian Journal of Control
IS - 4
ER -