Title :
Specification of control goals for mechanical systems as function minimization problem
Author :
Szklarz, Pawel Cesar Sanjuan ; Jarzebowska, Elzbieta
Author_Institution :
Inst. of Aeronaut. & Appl. Mech., Warsaw Univ. of Technol., Warsaw, Poland
Abstract :
A new relation between Lyapunov theory and control of mechanical models is presented. A goal function is constructed on the base of a mechanical system geometry independently of a control model. Control tasks are then related to a function minimization problem over the system trajectory. It is shown that such minimization problems are strictly related to the Lyapunov condition.
Keywords :
Lyapunov methods; mechanical products; minimisation; Lyapunov theory; control goals specification; function minimization problem; mechanical model control; mechanical system geometry; Equations; Lyapunov methods; Mathematical model; Mechanical systems; Minimization; Trajectory;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on
Conference_Location :
Miedzyzdrojie
Print_ISBN :
978-1-4673-2121-1
DOI :
10.1109/MMAR.2012.6347817
