MATEC Web of Conferences
Volume 16, 2014CSNDD 2014 - International Conference on Structural Nonlinear Dynamics and Diagnosis
|Number of page(s)||6|
|Section||Aerospace and naval structures: mathematical modeling, nonlinear dynamical behavior and control designs|
|Published online||01 September 2014|
Quasi-coordinates based dynamics control design for constrained systems
Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, 00-665 Warsaw, Nowowiejska 24 St., Poland
The paper presents model-based dynamics control design for constrained systems which exploits dynamics modeling in quasi-coordinates. These non-inertial coordinates are useful in motion description of constrained systems as well as in a controller design, since they offer many advantages in both areas. Specifically, dynamics model formulation results in a reduced-state form of the motion equations. The selection of quasi-coordinates is arbitrary so they may satisfy the constraint equations and be control inputs directly. The paper presents an approach to control oriented modeling and a controller design based on the generalized Boltzmann-Hamel equations where the generalization refers to constraint kinds which may be put upon systems, i.e. constraints may be material or artificial like control constraints. The control design framework applies to fully actuated and underactuated systems and it is computationally efficient. Examples of controller designs and their comparisons to a traditional, Lagrange model- based framework are presented.
© Owned by the authors, published by EDP Sciences, 2014
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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