DocumentCode :
3091171
Title :
Design of a controller for mechanical systems by the generalized energy function
Author :
Ishijima, S. ; Kobayashi, H. ; Shimemura, E.
Author_Institution :
Tokyo Metropolitan Institue of Technology, Tokyo, Japan
Volume :
26
fYear :
1987
fDate :
9-11 Dec. 1987
Firstpage :
2186
Lastpage :
2190
Abstract :
Dynamics of the mechanical system is described by the matrix-second-order differential equation, and the coefficient matrices in the equation have some special properties such as symmetry and positivity. These properties should be reflected to the design method of controllers for mechanical systems. In this paper we discuss control problems of mechanical systems in the matrix-second-order differential equation model by paying attention to their potential and kinetic energy. First we introduce a concept called generalized energy function and then by using this new concept we discuss observability and controllability and propose a design method of feedback controllers of the mechanical systems.
Keywords :
Adaptive control; Control systems; Controllability; Design methodology; Differential equations; Kinetic energy; Mechanical factors; Mechanical systems; Observability; Potential energy;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 1987. 26th IEEE Conference on
Conference_Location :
Los Angeles, California, USA
Type :
conf
DOI :
10.1109/CDC.1987.272478
Filename :
4049694
Link To Document :
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