Relay-based hybrid control of minimal-order mechanical systems with applications

• Autores: Andrea Bisoffi, Fulvio Forni, Mauro Da Lio, Luca Zaccarian
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 97, 2018, págs. 104-114
• Idioma: inglés
• Texto completo no disponible (Saber más ...)
• Resumen

  • This work explores the potential of relay-based control on a one-degree-of-freedom nonlinear mechanical system, in the contexts of both sustaining and damping oscillations. For both cases we state our main results building upon a simple reset formulation (relay feedback) and providing intuitive basic equations from classical mechanics. With a more rigorous description following a hybrid system formalism, we establish then the global asymptotic stability of the corresponding (compact-set) attractors through hybrid Lyapunov tools. The aspects of sustaining and damping oscillation are seen as complementary, because they reduce to a suitable mirroring of the reset surface. Finally, we discuss two applications of our results to the case of a hopping mass and an automotive suspension.