Decentralized energy-based hybrid control for the multi-RTAC system

Jevon M. Avis, Sergey G. Nersesov, Rungun Nathan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations


The concept of decentralized energy-based hybrid control involves hybrid dynamic subcontrollers with discontinuous states that individually control each subsystem of a large interconnected dynamical system. Specifically, each subcontroller accumulates the emulated energy and when the states of the subcontroller coincide with a high emulated energy level, then we can reset these states to remove the emulated energy so that the emulated energy is not returned to the subsystem. The real physical energy of each subsystem in this case is constantly dissipated through the motion of the actuators due to the subcontroller state resettings. In this paper, we specialize the general decentralized energy-based hybrid control framework to interconnected Euler-Lagrange dynamical systems and experimentally verify it on the multi- RTAC (rotational/translational proof-mass actuator) system. In addition, we discuss hardware used and experimental testbed involving three RTAC carts connected by the springs and present experimental results using decentralized energy-based hybrid controllers. This testbed presents a unique experimental platform for studying benchmark problems in decentralized nonlinear control design.

Original languageEnglish (US)
Title of host publication2009 American Control Conference, ACC 2009
Number of pages6
StatePublished - 2009
Event2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
Duration: Jun 10 2009Jun 12 2009

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2009 American Control Conference, ACC 2009
Country/TerritoryUnited States
CitySt. Louis, MO

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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