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Pd control of a press platform and a proof of stability using the hunt-crossley model
- Authors
- Nam, J.-U.; Yang, Y.-J.; Lim, S.; Yoon, T.-W.
- Issue Date
- 2019
- Publisher
- Institute of Control, Robotics and Systems
- Keywords
- Hunt-Crossley model; Invariant set; Lyapunov stability; PD force control; Wind power blade
- Citation
- Journal of Institute of Control, Robotics and Systems, v.25, no.3, pp.187 - 193
- Indexed
- SCOPUS
KCI
- Volume
- 25
- Number
- 3
- Start Page
- 187
- End Page
- 193
- ISSN
- 1976-5622
- Abstract
- This paper presents a PD force controller for a press platform to inspect the surface of a wind power blade. The Hunt-Crossly model is employed for the platform, where the force is composed of a nonlinear spring and a damper. Considering the shape of the probe, this model is more accurate than the linear spring-damper models because it captures some of the nonlinearities of the platform. However, the nonlinearities make it harder to assess the stability of the closed-loop. This problem is solved by designing a Lyapunov function and an invariant set, which leads to a stability proof. Simulations and experiments are performed, and the results are consistent with this mathematical analysis. The effectiveness of the control scheme is also observed in the simulations and experiments. © ICROS 2019.
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Related Researcher
- YOON, TAE WOONG
- College of Engineering (School of Electrical Engineering)