Adaptive Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing an Impact Collision

The control of dynamic systems that undergo an impact collision is both theoretically challenging and of practical importance. An appeal of studying systems that undergo an impact is that short-duration effects such as high stresses, rapid dissipation of energy, and fast acceleration and deceleration may be achieved from low-energy sources. However, colliding systems present a difficult control challenge because the equations of motion are different when the system suddenly transitions from a noncontact state to a contact state. In this paper, an adaptive nonlinear controller is designed to regulate the states of two dynamic systems that collide. The academic example of a planar robot colliding with an unactuated mass

• Type: Journal
• Year: 2008
• Where: TSMC
• Authors: Keith Dupree, Chien-Hao Liang, Guoqiang Hu, Warren E. Dixon
• Keywords: Adaptive Nonlinear Controller, Dynamic Systems, Systems, TSMC 2008