Decentralized PD control for nonuniform motion of

Authors: Mingcong Deng Hongnian Yu Akira Inoue

Publish Date: 2008/05/23

Volume: 5, Issue: 2, Pages: 119-124

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Abstract

In this paper a decentralized proportionalderivative PD controller design for nonuniform motion of a Hamiltonian hybrid system is considered A Hamiltonian hybrid system with the capability of producing a nonuniform 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 nonuniform motionMingcong Deng received his B Sc and M Sc degrees in control engineering from Northeastern University PRC in 1986 and 1991 respectively and his PhD 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 operatorbased control strong stabilitybased control robust parallel compensation and fault diagnosisHongnian Yu received his PhD 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 networksAkira Inoue received his B Sc and M Sc and PhD 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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