DocumentCode
2151997
Title
Decomposition of Lagrangian systems on the base of the technical controllability concept
Author
Rutkovsky, V.Yu. ; Zemlyakov, S.D.
Author_Institution
Inst. of Control Sci., Moscow, Russia
Volume
4
fYear
2003
fDate
20-22 Aug. 2003
Firstpage
1242
Abstract
Consideration is given to control of the plant obeying Lagrange equations under bounded control actions. The notion of autonomous technical controllability of the plant is established and used to prove that the mathematical model of plant motion can be decomposed into individual subsystems.
Keywords
controllability; mathematical analysis; modelling; reduced order systems; Lagrangian system; individual subsystem; mathematical model; plant control; plant motion; technical controllability concept; Control systems; Controllability; Electromechanical systems; Force control; Kinetic energy; Lagrangian functions; Motion control; Nonlinear equations; Relays; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Physics and Control, 2003. Proceedings. 2003 International Conference
Print_ISBN
0-7803-7939-X
Type
conf
DOI
10.1109/PHYCON.2003.1237085
Filename
1237085
Link To Document