NDLI: Non-linear PI regulators in control problems for holonomic mechanical systems

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Non-linear PI regulators in control problems for holonomic mechanical systems

Content Provider	Taylor & Francis Online
Author	Andreev, Aleksandr Peregudova, Olga
Abstract	In this paper we propose a solution to the regulation problem of holonomic mechanical systems without velocity measurements by constructing nonlinear PI controllers. An approach based on the Lyapunov functional method is used to analyse the stability of the closed-loop system which has the form of Volterra integro-differential equation. The paper presents the quasi-invariance principle for Volterra nonlinear integral differential equations. Furthermore, we present sufficient conditions that one can use to conclude the asymptotic stability of the closed-loop system via using a Lyapunov functional with semi-definite time derivative. The simulation results of the two-link robot manipulator demonstrate the effectiveness of the proposed PI controller.
Starting Page	12
Ending Page	19
Page Count	8
File Format	PDF HTM / HTML
ISSN	21642583
DOI	10.1080/21642583.2017.1413437
Journal	Systems Science & Control Engineering
Volume Number	6
Issue Number	1
Language	English
Publisher	Taylor & Francis
Publisher Date	2017-12-13
Access Restriction	Open
Subject Keyword	Mechanical system Regulation problem PI controller Volterra integro-differential equation Lyapunov functional
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Artificial Intelligence Control and Systems Engineering

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