TY - GEN
T1 - Velocity field control of mechanical systems
AU - Li, Perry Y.
AU - Horowitz, Roberto
PY - 1993/12/1
Y1 - 1993/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0027875554&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:0027875554
SN - 0780312988
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3124
EP - 3125
BT - Proceedings of the IEEE Conference on Decision and Control
PB - Publ by IEEE
T2 - Proceedings of the 32nd IEEE Conference on Decision and Control. Part 2 (of 4)
Y2 - 15 December 1993 through 17 December 1993
ER -