Modeling and control of systems with active singularities under energy constraints: Single- and multi-impact sequences

Joseph Bentsman, Boris M. Miller, Evgeny Ya Rubinovich, Sudip K. Mazumder

Research output: Contribution to journalArticle

Abstract

A controller synthesis setting for systems with controlled singularities under incomplete information is extended to the cases characterized by a constraint on the total physical impulse as well as on the time interval between the adjacent engagement phases. The use of this setting for the optimal control law calculation is illustrated on the ball/racket system representative of a large class of controlled impact problems, where there are two separate bodies interacting through controlled viscoelastic force.

Original languageEnglish (US)
Article number6144704
Pages (from-to)1854-1859
Number of pages6
JournalIEEE Transactions on Automatic Control
Volume57
Issue number7
DOIs
StatePublished - Jul 3 2012

Keywords

  • Control over observations
  • controlled singularities
  • energy constraints
  • impulse control
  • mechanical systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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