Control of Mechanical Systems with Agility/Precision Response Objective under Energy and Magnitude Constraints

能量和幅度约束下具有敏捷/精确响应目标的机械系统控制

• 批准号: 9414472
• 负责人: Joseph Bentsman
• 金额: $ 3.5万
• 依托单位: University of Illinois at Urbana-Champaign
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1994
• 资助国家: 美国
• 起止时间: 1994-09-01 至 1997-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9414472&HistoricalAwards=false
• 关键词: Control; Mechanical; Systems; Agility; Precision

9414472 Bentsman This International Cooperative Research Project involves collaborative research effort between the PI and five leading researchers from the Former Soviet Union (FSU) countries. Innovative techniques are developed for the control of mechanical systems subjected to energy and magnitude constraints. Such control situations are encountered in many diverse applications, e.g., reorientation and maneuvering of spacecrafts, and positioning of robotic manipulators and flying heads in hard disk drives. In this project, mathematical models are formulated for complex nonlinear mechanical systems that admit both impulsive and conventional control inputs. Optimal solutions are generated under the integral and magnitude constraints for this class of systems using a generalized control approach in a closed-loop setting. ***

9414472 Bentsman 该国际合作研究项目涉及 PI 和来自前苏联 (FSU) 国家的五位领先研究人员之间的合作研究工作。开发了创新技术来控制受能量和幅度限制的机械系统。这种控制情况在许多不同的应用中都会遇到，例如航天器的重新定向和操纵，以及机器人操纵器和硬盘驱动器中的飞行磁头的定位。在该项目中，为复杂的非线性机械系统制定了数学模型，该系统允许脉冲和传统控制输入。 在闭环设置中使用广义控制方法，在此类系统的积分和幅度约束下生成最佳解决方案。 ***