AAS 97-652
FEEDBACK CONTROL LAW USING THE EIGENFACTOR QUASI-VELOCITY COORDINATES
H. Schaub and J.L. Junkins - Texas A&M University
Abstract
The use of the newly developed eigenfactor quasi-velocity coordinates (EQC) vectors in feedback control laws is examined. 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 EQC formulation does no work. This allows for simple velocity feedback laws which are globally asymptotically stable. The kinetic energy is shown to decay exponentially at an easily predictable rate. The performance and convergence rate of the EQC feedback control law is 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 EQC feedback control law shows better performance than the traditional velocity feedback control law, especially for large initial motions.