Energy-based hybrid control for the RTAC system: experimental results

Abstract

The concept of an energy-based hybrid controller involves a hybrid controller that emulates an approximately lossless hybrid dynamical system and exploits the feature that the states of the dynamic controller may be reset to enhance the overall energy dissipation in the closed-loop system. Specifically, the controller accumulates the emulated energy and when the states of the controller 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 plant. In this paper, we present a general framework for such energy-based hybrid control for lossless systems and implement it in real time on the rotational/translational proof-mass actuator (RTAC) system. The obtained experimental results agree with the theory and show the efficacy of the presented theoretical framework.