DocumentCode :
2185565
Title :
Mechanical systems with unilateral constraints: controlled singularity approach
Author :
Bentsman, Joseph ; Miller, Boris M.
Author_Institution :
Dept. of Mech. & Ind. Eng., Illinois Univ., Urbana, IL, USA
Volume :
4
fYear :
2001
fDate :
2001
Firstpage :
3692
Abstract :
Admitting the introduction of the impulsive control actions during singular phases of the dynamical system motion, such as changes in dimension and discontinuities in the state, a well-posed representation of the discontinuous limiting motion of mechanical systems with unilateral constraints in terms of differential equations with measure is developed. This representation is mapped into a detailed multi-scale system description via a space-time transformation. The resulting framework, which includes the equations of the detailed and limit dynamics connected via the space-time transformation, is used to describe a difficult-to-model class of systems - mechanical systems with impulsive control actions introduced by a collision-type system interaction with nonstationary controllable constraints
Keywords :
differential equations; dynamics; force control; motion control; multidimensional systems; optimal control; singularly perturbed systems; transient response; collision-type system; controllable singularities; differential equations; dynamical system; force control; impulsive control; mechanical systems; multiscale system; optimal control; space-time transformation; Control systems; Force measurement; Industrial engineering; Mechanical systems; Mechanical variables measurement; Motion control; Motion measurement; Nonlinear control systems; Optimal control; Topology;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
Type :
conf
DOI :
10.1109/.2001.980437
Filename :
980437
Link To Document :
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