DocumentCode
1363212
Title
Physical insights on passivity-based TORA control designs
Author
Alleyne, Andrew
Author_Institution
Dept. of Mech. & Ind. Eng., Illinois Univ., Urbana, IL, USA
Volume
6
Issue
3
fYear
1998
fDate
5/1/1998 12:00:00 AM
Firstpage
436
Lastpage
439
Abstract
Jankovic et al. (ibid., vol.4, p.292-7, 1996) developed a series of cascadeand passivity-based control designs for the control of a translational oscillation rotational actuation (TORA) benchmark example. Two of the passivity-based control designs have strong mechanical underpinnings. In this brief letter, valuable physical insight into the passivity-based control is demonstrated using a basic theory of vibration analysis
Keywords
actuators; cascade control; nonlinear control systems; cascade-based TORA control designs; passivity-based TORA control designs; passivity-based control designs; translational oscillation rotational actuation control; vibration analysis; Actuators; Angular velocity; Control design; Control systems; DC motors; Damping; Feedback; Nonlinear control systems; Torque; Vibration control;
fLanguage
English
Journal_Title
Control Systems Technology, IEEE Transactions on
Publisher
ieee
ISSN
1063-6536
Type
jour
DOI
10.1109/87.668045
Filename
668045
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