The singularity opening approach to control of mechanical systems with constraints

Boris M. Miller; Joseph Bentsman

doi:10.1016/S1474-6670(17)38902-4

The singularity opening approach to control of mechanical systems with constraints

Research output: Contribution to journal › Conference article › peer-review

Abstract

Dynamical systems with controlled singularities, such as mechanical systems with active unilateral constraints, are characterized by the admission of the impulsive control actions within their singular motion phases. In a series of our recent works a novel physically based methodology for the singularity description in this class of systems was proposed. The present work introduces a new optimal control problem formulation for these systems, establishes the existence of the optimal solutions, and derives the optimality conditions.

Original language	English (US)
Pages (from-to)	263-268
Number of pages	6
Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	36
Issue number	2
DOIs	https://doi.org/10.1016/S1474-6670(17)38902-4
State	Published - 2003
Event	2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control 2003 - Seville, Spain Duration: Apr 3 2003 → Apr 5 2003

Keywords

Dynamic systems
Generalized solutions
Hybrid systems
Impacts
Optimal control
Singularities

ASJC Scopus subject areas

Control and Systems Engineering

Online availability

10.1016/S1474-6670(17)38902-4

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abstract = "Dynamical systems with controlled singularities, such as mechanical systems with active unilateral constraints, are characterized by the admission of the impulsive control actions within their singular motion phases. In a series of our recent works a novel physically based methodology for the singularity description in this class of systems was proposed. The present work introduces a new optimal control problem formulation for these systems, establishes the existence of the optimal solutions, and derives the optimality conditions.",

keywords = "Dynamic systems, Generalized solutions, Hybrid systems, Impacts, Optimal control, Singularities",

author = "Miller, {Boris M.} and Joseph Bentsman",

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T1 - The singularity opening approach to control of mechanical systems with constraints

AU - Miller, Boris M.

AU - Bentsman, Joseph

PY - 2003

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N2 - Dynamical systems with controlled singularities, such as mechanical systems with active unilateral constraints, are characterized by the admission of the impulsive control actions within their singular motion phases. In a series of our recent works a novel physically based methodology for the singularity description in this class of systems was proposed. The present work introduces a new optimal control problem formulation for these systems, establishes the existence of the optimal solutions, and derives the optimality conditions.

AB - Dynamical systems with controlled singularities, such as mechanical systems with active unilateral constraints, are characterized by the admission of the impulsive control actions within their singular motion phases. In a series of our recent works a novel physically based methodology for the singularity description in this class of systems was proposed. The present work introduces a new optimal control problem formulation for these systems, establishes the existence of the optimal solutions, and derives the optimality conditions.

KW - Dynamic systems

KW - Generalized solutions

KW - Hybrid systems

KW - Impacts

KW - Optimal control

KW - Singularities

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SP - 263

EP - 268

JO - IFAC Proceedings Volumes (IFAC-PapersOnline)

JF - IFAC Proceedings Volumes (IFAC-PapersOnline)

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T2 - 2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control 2003

Y2 - 3 April 2003 through 5 April 2003

ER -

The singularity opening approach to control of mechanical systems with constraints

Abstract

Keywords

ASJC Scopus subject areas

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