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

9414472 Bentsman这个国际合作研究项目涉及PI和前苏联（FSU）国家的五位主要研究人员之间的合作研究工作。创新的技术开发的机械系统的控制受到能量和幅度的限制。这种控制情况在许多不同的应用中遇到，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头的定位。在这个项目中，数学模型制定复杂的非线性机械系统，承认脉冲和传统的控制输入。 最佳解决方案下产生的积分和幅度的限制，这类系统使用广义控制方法在闭环设置。 ***

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. ***