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RESEARCH PAPERS

Design of Controller for Linear Mechanical Descriptor Systems

[+] Author and Article Information
Tie-Jun Yu, P. C. Müller

Safety Control Engineering, University of Wuppertal, Gaußstr. 20, 42097 Wuppertal, Germany

J. Dyn. Sys., Meas., Control 116(4), 628-634 (Dec 01, 1994) (7 pages) doi:10.1115/1.2899261 History: Received May 01, 1993; Revised December 01, 1993; Online March 17, 2008

Abstract

Mechanical descriptor systems, i.e., constrained mechanical systems, have many applications in practice. This paper studies the control of mechanical descriptor systems. First, a class of the state feedback controllers assigning the finite poles of mechanical descriptor systems at any desired locations is presented. Second, based on the degrees of freedom of pole-assignment controller, an optimization method for designing the controller that assigns the finite poles of closed-loop mechanical descriptor system and simultaneously minimizes a quadratic performance index is proposed. The necessary condition for the pole-assignment controller to be optimal is derived and the corresponding algorithms are discussed. An example is given to illustrate the validity of method in this paper.

Copyright © 1994 by The American Society of Mechanical Engineers
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