Velocity field control of mechanical systems

Perry Y. Li, Roberto Horowitz

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose control schemes that stabilize the system's behavior to the desired velocity field. In particular, we seek schemes that are divided into a dissipative component and an active component with respect to kinetic energy. We considered two cases: one in which both the dissipative and the active components are available for manipulation, and the other in which the active component is given, but not manipulable. It is shown that in the first case, a space varying damping control is sufficient, and in the second case, a dynamic damping control based on a fictitious manipulator is proposed.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherPubl by IEEE
Pages3124-3125
Number of pages2
ISBN (Print)0780312988
StatePublished - Dec 1 1993
EventProceedings of the 32nd IEEE Conference on Decision and Control. Part 2 (of 4) - San Antonio, TX, USA
Duration: Dec 15 1993Dec 17 1993

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume4
ISSN (Print)0191-2216

Other

OtherProceedings of the 32nd IEEE Conference on Decision and Control. Part 2 (of 4)
CitySan Antonio, TX, USA
Period12/15/9312/17/93

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