Linear decoupling controllers for constrained dynamic systems

摘要

Linear decoupling controllers of proportional derivative (PD) type are considered for natural and robotic systems operating under holonomic constraints. The dynamic system must be decomposed into orthogonal subspaces of motion and constraint. The incremental motion of the system along the two hyper-planes must be stable. Decoupling controllers, including both non-interacting and disturbance decoupling types, are parameterized using a single matrix parameter. The proof of stability is based on Lyapunov function approach.