1,170,722 research outputs found
Control of interconnected mechanical systems
In this paper control systems design approach, based on siding mode methods, that allows maintain some functional relation – like bilateral or multilateral systems, establishment of virtual relation among mobile robots or control of haptic systems - is presented. It is shown that all basic motion control problems - trajectory tracking, force control, hybrid position/force control scheme and the impedance control for the interacting systems- can be treated in the same way while avoiding the structural change of the controller and guarantying stable behavior of the system In order to show applicability of the proposed techniques simulation and experimental results for high precision systems in microsystems assembly tasks are presented.
Configuration Controllability of Simple Mechanical Control Systems
In this paper we present a definition of 'configuration controllability' for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential energy. A computable test for this new version of controllability is derived. This condition involves an object that we call the symmetric product. Of particular interest is a definition of 'equilibrium controllability' for which we are able to derive computable sufficient conditions. Examples illustrate the theory
Configuration Controllability of Simple Mechanical Control Systems
In this paper we present a definition of "configuration controllability" for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential energy. A computable test for this new version of controllability is derived. This condition involves an object which we call the symmetric product. Of particular interest is a definition of "equilibrium controllability" for which we are able to derive computable sufficient conditions. Examples illustrate the theory
Dynamics and control of a class of underactuated mechanical systems
This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the results; these examples are of underactuated mechanical systems that are not linearly controllable or smoothly stabilizable
Optimal Control of Underactuated Mechanical Systems: A Geometric Approach
In this paper, we consider a geometric formalism for optimal control of
underactuated mechanical systems. Our techniques are an adaptation of the
classical Skinner and Rusk approach for the case of Lagrangian dynamics with
higher-order constraints. We study a regular case where it is possible to
establish a symplectic framework and, as a consequence, to obtain a unique
vector field determining the dynamics of the optimal control problem. These
developments will allow us to develop a new class of geometric integrators
based on discrete variational calculus.Comment: 20 pages, 2 figure
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