Decentralized PD control for non-uniform motion of a Hamiltonian hybrid system
Authors: Deng, M., Yu, H. and Inoue, A.
Journal: International Journal of Automation and Computing
In this paper, a decentralized proportional-derivative (PD) controller design for non-uniform motion of a Hamiltonian hybrid system is considered. A Hamiltonian hybrid system with the capability of producing a non-uniform motion is developed. The structural properties of the system are investigated by means of the theory of Hamiltonian systems. A relationship between the parameters of the system and the parameters of the proposed decentralized PD controller is shown to ensure local stability and tracking performance. Simulation results are included to show the obtained non-uniform motion. © 2008 Institute of Automation, Chinese Academy of Sciences and Springer-Verlag GmbH.