The singularity opening approach to control of mechanical systems with constraints

Boris M. Miller, Joseph Bentsman

Research output: Contribution to journalConference articlepeer-review


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)
Issue number2
StatePublished - 2003
Event2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control 2003 - Seville, Spain
Duration: Apr 3 2003Apr 5 2003


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

ASJC Scopus subject areas

  • Control and Systems Engineering


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