Bounded output feedback systems for mechanical vibration control

摘要

The design is investigated of dynamic output feedback laws for the set point control and vibration suppressionrnin mechanical systems governed by the Euler-Lagrange formalism. We assume the systems are collocatedrnactuator-sensor controlled and underactuated. We concentrate on the case of constrained output feedback,rnwhere the control input magnitudes satisfy a priori imposed upper bounds. The controller structure containsrna linear dynamic component and several nonlinear components. The closed loop stability conditions result inrna frequency criterion on the transfer matrix of the controller’s linear component and some constraints on therncontroller’s nonlinearities. The stability analysis and the design method rely on principles from dissipativityrnand Liapunov theory.