Impulse-based hybrid motion control

Abstract

Abstract-The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states, either relative position or velocity. In this paper, the proposed control method is extended to a general hybrid motion control form. We are using the paradigm of hybrid system modeling while explicitly specifying the state trajectories each time the continuous system state hits the guards that triggers impulsive control actions. The conditions for a stable convergence to zero equilibrium are derived in relation to the control parameters, while requiring only the upper bound of damping uncertainties to be known. Numerical examples are shown for an underdamped closed-loop dynamics with oscillating transients, an upper bounded timevarying positive system damping, and system with an additional Coulomb friction damping.

Experimental framework of traveling trolley with swinging load for hybrid motion control

“…The first simple event-based hybrid control strategy has been designed and evaluated for the unknown final position of traveling trolley with objective of reducing the undesired swinging of the load. The developed and implemented experimental framework allows for further research on hybrid control systems, like for example [11], in terms of using less expensive and robust discrete sensors decoupled from the plant.…”