Modeling and Control of Systems with Active Singularities Under Energy Constraints: Single- and Multi-Impact Sequences

Author

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

Author_Institution

Dept. of Mech. Sci. & Eng., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA

Volume

57

Issue

7

fYear

2012

fDate

7/1/2012 12:00:00 AM

Firstpage

1854

Lastpage

1859

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.

Keywords

control system synthesis; optimal control; active singularities; adjacent engagement phases; ball system; controlled singularities; controller synthesis setting; energy constraints; incomplete information; optimal control law calculation; racket system; single and multiimpact sequences; total physical impulse; viscoelastic force; Educational institutions; Electronic mail; Equations; Force; Mathematical model; Optimal control; Control over observations; controlled singularities; energy constraints; impulse control; mechanical systems;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2012.2186401

Filename

6144704