Feedback control law using the eigenfactor quasi-coordinate velocity vector
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The use of the recently developed eigenfactor quasi-coordinate velocities (EQV) vectors in feedback control laws is examined. The equations of motion in these new coordinates do not require a mass matrix inverse to be taken and are ideally suited for massively parallel computation. It is shown that the Coriolis term of the EQV formulation does no mechanical work. This allows for simple velocity feedback laws which are globally asymptotically stable. The performance and convergence rate of the EQV feedback control law are compared to a traditional velocity feedback control law by using them to bring a three-link manipulator to rest. For a given maximum available control, the EQV feedback control law shows better performance than the traditional velocity feedback control law. The kinetic energy decays exponentially at an easily controllable rate. Further, numerical studies show that damping derived from an EQV feedback control law approximately decouples the nonlinear dynamics of a rigid multi-link system and brings each link to rest individually.
author list (cited authors)
Schaub, H., & Junkins, J. L.