...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IEEE Transactions on Automatic Control >On the control of complementary-slackness juggling mechanicalsystems
【24h】

On the control of complementary-slackness juggling mechanicalsystems

机译：关于互补松弛杂耍机械系统的控制

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Studies the feedback control of a class of complementary-slackness hybrid mechanical systems. Roughly, the systems we study are composed of an uncontrollable part (the “object”) and a controlled one (the “robot”), linked by a unilateral constraint and an impact rule. A systematic and general control design method for this class of systems is proposed. The approach is a nontrivial extension of the one degree-of-freedom (DOF) juggler control design. In addition to the robot control, it is also useful to study some intermediate controllability properties of the object's impact Poincare mapping, which generally takes the form of a nonlinear discrete-time system. The force input mainly consists of a family of dead-beat feedback control laws, introduced via a recursive procedure, and exploiting the underlying discrete-time structure of the system. The main goal of the paper is to highlight the role of various physical and control properties characteristic of the system on its stabilizability properties and to propose solutions in certain cases
机译：研究一类互补松弛混合机械系统的反馈控制。大致来说，我们研究的系统由不可控制的部分（“对象”）和受控的部分（“机器人”）组成，并由单方面约束和影响规则链接。针对此类系统，提出了一种系统的通用控制设计方法。该方法是单自由度（DOF）变戏法者控制设计的不平凡的扩展。除了机器人控制之外，研究对象碰撞Poincare映射的某些中间可控性也很有用，该映射通常采用非线性离散时间系统的形式。力输入主要由一系列无差拍反馈控制定律组成，这些定律是通过递归过程引入的，并利用了系统的底层离散时间结构。本文的主要目的是强调系统的各种物理和控制特性对系统的稳定性的作用，并在某些情况下提出解决方案

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号