Abstract
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.
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Mingcong Deng received his B. Sc. and M. Sc. degrees in control engineering from Northeastern University, PRC, in 1986 and 1991, respectively, and his Ph.D. degree in systems science from Kumamoto University, Japan, in 1997. From 1997 to 2000 he was with Kumamoto University. From 2000 to 2001 he was with University of Exeter, UK, and then spent one year at the NTT Communication Science Laboratories for human arm dynamics research. From the end of 2002, he has been working at the Department of Systems Engineering, Okayama University, where he is currently an associate professor. He is a member of SICE, IEICE, JSME, ICROS, and IEEE. His research interests include living body measurement, nonlinear system modeling and control (including operator-based control), strong stability-based control, robust parallel compensation, and fault diagnosis.
Hongnian Yu received his Ph.D. degree in robotics at King’s College London, UK, in 1990–1994. He was a lecturer in control and systems engineering at Yanshan University, PRC, in 1985–1990, a research fellow in manufacturing systems at Sussex University, UK, in 1994–1996, a lecturer in artificial intelligence at Liverpool John Moore’s University, UK, in 1996–1999, a lecturer in control and systems engineering at the University of Exeter, UK, in 1999–2002, and a senior lecturer in computing at the University of Bradford, UK, in 2002–2004. Currently, he is professor of computer science and head of Mobile Computing and Distributed Control Systems Research Group at Staffordshire University, UK. He has published over 100 research papers. He is an EPSRC college member, a member of IEEE, and a committee member of several conferences and journal editorial boards. His research interests include experience in neural networks, mobile computing, modelling, control of robot manipulators, and modelling, scheduling, planning, and simulations of large discrete event dynamic systems with applications to manufacturing systems, supply chains, transportation networks, and computer networks.
Akira Inoue received his B. Sc. and M. Sc., and Ph.D. engineering degrees in applied mathematics and physics from Kyoto University, Japan, in 1966, 1968, and 1977, respectively. From 1977 to 1978, he was with the University of Alberta, Canada, and from 1978 to 1987 he was with Kumamoto University, Japan. From 1987 to 1995, he was a professor at the Department of Information Technology and Department of Systems Engineering, Okayama University, Japan. He is a fellow of the Society of Instrument and Control Engineers (SICE) and a member of Society for Industrial and Applied Mathematics (SIAM) and IEEE. He was chairperson of the organizing committee for Japan Joint Automatic Control Conference, 2003, and was general chair of SICE Annual Conference, 2005. His research interests include adaptive control, nonlinear control of mechanical systems, and model predictive control.
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Deng, M., Yu, H. & Inoue, A. Decentralized PD control for non-uniform motion of a Hamiltonian hybrid system. Int. J. Autom. Comput. 5, 119–124 (2008). https://doi.org/10.1007/s11633-008-0119-7
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DOI: https://doi.org/10.1007/s11633-008-0119-7