Stabilization of linear undamped systems via position and delayed position feedbacks

Bo Liu, Haiyan Y. Hu*

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

19 引用 (Scopus)

摘要

This paper presents a systematic approach to stabilizing a kind of linear undamped systems of multiple degrees of freedom by using both position and delayed position feedbacks, namely, PDP feedbacks for short. For the fully actuated system, the approach enables one to complete the design of controller directly through the use of modal decoupling and a stability chart. For the under-actuated system, the approach includes two steps. The first step is to move all the eigenvalues of the system on the imaginary axis of the complex plane by using a position feedback, and the second step is to drag all the eigenvalues of the system to the left half open complex plane through the use of a delayed position feedback, which can be determined on the basis of sensitivity analysis of eigenvalues. Two examples, i.e., a fully actuated robotic manipulator and an under-actuated double inverted pendulum, are discussed in the paper to demonstrate the design of controllers for the two different types of systems and to support the efficacy of the proposed approach.

源语言英语
页(从-至)509-525
页数17
期刊Journal of Sound and Vibration
312
3
DOI
出版状态已出版 - 6 5月 2008
已对外发布

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