The singularity opening approach to control of mechanical systems with constraints

Boris M. Miller, Joseph Bentsman

Research output: Contribution to journalConference articlepeer-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 languageEnglish (US)
Pages (from-to)263-268
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume36
Issue number2
DOIs
StatePublished - Jan 1 2003
Event2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control 2003 - Seville, Spain
Duration: Apr 3 2003Apr 5 2003

Keywords

  • Dynamic systems
  • Generalized solutions
  • Hybrid systems
  • Impacts
  • Optimal control
  • Singularities

ASJC Scopus subject areas

  • Control and Systems Engineering

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