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

这个国际合作研究项目涉及PI和来自前苏联（FSU）国家的五位主要研究人员之间的合作研究工作。为控制受能量和量级限制的机械系统开发了创新技术。这种控制情况在许多不同的应用中都遇到过，例如航天器的重新定向和机动，以及机器人操纵器和硬盘驱动器中飞行头的定位。在这个项目中，为复杂的非线性机械系统制定了数学模型，允许脉冲和常规控制输入。在闭环条件下，采用广义控制方法，在积分约束和幅度约束下得到了这类系统的最优解。＊＊＊

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. ***