Title :
Optimal regulation of flexible structures governed by hybrid dynamics
Author :
Biswas, Saroj K.
Author_Institution :
Dept. of Electr. Eng., Temple Univ., Philadelphia, PA, USA
Abstract :
The author considers the problem of optimal control of flexible structures governed by a coupled system of ordinary differential equations and hyperbolic partial differential equations (hybrid dynamics). He presents necessary conditions for determining the control torque and control forces for optimal regulation of the structure along with simultaneous suppression of its elastic vibrations. Illustrative numerical results for the control of a one-link flexible robot are presented
Keywords :
differential equations; distributed parameter systems; dynamics; optimal control; control forces; control torque; coupled system; elastic vibration suppression; flexible structures; hybrid dynamics; hyperbolic partial differential equations; one-link flexible robot; optimal control; ordinary differential equations; Differential equations; Flexible structures; Force control; Hybrid intelligent systems; Optimal control; Partial differential equations; Robots; Satellites; Structural beams; Torque control;
Conference_Titel :
Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
Conference_Location :
Austin, TX
DOI :
10.1109/CDC.1988.194600
