화학공학소재연구정보센터
International Journal of Control, Vol.93, No.12, 2931-2940, 2020
Continuous finite-time regulation of Euler-Lagrange systems via energy shaping
In this paper, we provide conditions on the energy-like functions employed in the classical energy shaping control technique in order to solve the finite-time regulation problem of a class of Euler-Lagrange systems. Inherited from the energy shaping design, the obtained control schemes are described by the gradient of suitable artificial potential energy and energy dissipation functions. In order to achieve finite-time convergence at a desired constant position, these energy functions are provided with some homogeneity properties and designed to have an appropriate homogeneity degree. Using different energy function definitions, this paper provides different novel controllers as an example of the proposed control design methodology.