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国际和平研究所和来自前苏联(FSU)国家的五位顶尖研究人员之间的合作研究工作。开发了用于控制受能量和幅值约束的机械系统的创新技术。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机动，以及机器人操作器和硬盘驱动器中的飞行磁头的定位。在这个项目中，建立了复杂的非线性机械系统的数学模型，其中既包括脉冲控制输入，也包括常规控制输入。对于这类系统，在积分和幅值约束下，利用闭环系统的广义控制方法得到最优解。***

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. ***