Affiliation:
1. Professor of Aerospace and
Mechanical Engineering Civil Engineering, Systems Architecture Engineering, Mathematics, and Information and Operations Management, University of Southern California, 430K Olin Hall, Los Angeles, CA 90089-1453 e-mail:
Abstract
This paper gives a simple approach to designing a controller that minimizes a user-specified control cost for a mechanical system while ensuring that the control is stable. For a user-given Lyapunov function, the method ensures that its time rate of change is negative and equals a user specified negative definite function. Thus a closed-form, optimal, nonlinear controller is obtained that minimizes a desired control cost at each instant of time and is guaranteed to be Lyapunov stable. The complete nonlinear dynamical system is handled with no approximations/linearizations, and no a priori structure is imposed on the nature of the controller. The methodology is developed here for systems modeled by second-order, nonautonomous, nonlinear, differential equations. The approach relies on some recent fundamental results in analytical dynamics and uses ideas from the theory of constrained motion.
Subject
Mechanical Engineering,Mechanics of Materials,Condensed Matter Physics
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47 articles.
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