Title :
A new design criterion for controlled multibody systems
Author_Institution :
Inst. of Mech., Bulgarian Acad. of Sci., Sofia, Bulgaria
Abstract :
A simple approach for robust integrated design of multibody systems (MBS) with decentralized control structure is proposed. The basic design concept is to use optimal trade-off relations between the given bounds of disturbances and the control force limits. The proposed criterion enables a decomposition of the overall design problem into a hierarchical sequence of design problems for the subsystems: mechanics, actuators, sensors, and controls. Several examples of two-, three-, and six-degree-of-freedom rigid MBS have been considered in order to verify the viability of the proposed design concepts
Keywords :
automobiles; control system synthesis; controllability; decentralised control; hierarchical systems; nonlinear systems; optimisation; robust control; variable structure systems; vibration control; active suspension; active vibration control; car model; controllability; decentralized control; design criterion; disturbance bounds; hierarchical sequence; multibody systems; nonlinear systems; optimisation; robust control; sliding mode control; Actuators; Control systems; Controllability; Distributed control; Force control; MIMO; Optimal control; Robots; Robust control; Sliding mode control;
Conference_Titel :
Computer-Aided Control System Design, 1996., Proceedings of the 1996 IEEE International Symposium on
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-3032-3
DOI :
10.1109/CACSD.1996.555350
