Hysteresis Analysis and Feedback Stabilization of Snap-through Buckling

Ashwani K. Padthe, Nalin A. Chaturvedi, Dennis S. Bernstein, Anthony M. Waas
2007 American Control Conference (ACC)  
We study a preloaded two-bar linkage that exhibits hysteresis due to the presence of multiple attracting equilibria. The dynamics at the unstable equilibrium, through which a snap-through buckle occurs, are not linearizable due to a singularity that is solution-dependent. We stabilize the unstable equilibrium using two distinct nonlinear controllers. The feedback linearization controller requires knowledge of the linkage parameters, whereas the potential shaping PD-type controller requires only an upper bound on the stiffness.
doi:10.1109/acc.2007.4283067 dblp:conf/acc/PadtheCBW07 fatcat:doe7ru3tf5bmbf3llkm5wlwcim