Title :
Use of non-smooth impacts for the control of (otherwise) uncontrollable linear mechanical systems
Author :
Menini, Laura ; Tornambè, Antonio
Author_Institution :
Dipt. Informatica, Sistemi e Produzione, Univ. Roma Tor Vergata, Rome, Italy
Abstract :
A class of under actuated linear mechanical systems subject to nonsmooth impacts is considered, which would be uncontrollable if the impacts were absent. It is shown that just the nonsmooth impacts can be used in order to solve for the overall systems a dead-beat regulation problem, which would be impossible to be solved in absence of impacts due to the uncontrollability of the unconstrained mechanical system
Keywords :
controllability; linear systems; dead-beat regulation problem; nonsmooth impacts; uncontrollable linear mechanical system control; underactuated linear mechanical systems; Control systems; Eigenvalues and eigenfunctions; Lagrangian functions; Mechanical systems; Motion control; Nonlinear equations; Vectors; Zinc;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.981163
