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

Accepted version
Peer-reviewed

Type

Article

Change log

Authors

Bisoffi, A 
Da Lio, M 
Zaccarian, L 

Abstract

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.

Description

Keywords

Nonlinear control systems, Nonlinear systems, Relay control, Reset actions, Discontinuous control, Forced oscillations, Periodic motion, Limit cycles, Global stability, Asymptotic stability, Lyapunov stability, Stability analysis, Lyapunov methods, Mechanical systems

Journal Title

Automatica

Conference Name

Journal ISSN

0005-1098
1873-2836

Volume Title

97

Publisher

Elsevier BV