Sensitivity Reduction of Constraint Forces and Position Control for Mechanical Descriptor Systems

[+] Author and Article Information
Dan-chi Jiang

Department of Systems Engineering & Cooperative Research Centre for Robust and Adaptive Systems, Australia National University, Canberra, ACT 0200 Australia

Wei-Yong Yan

School of Electrical and Electronic Engineering, Nanyang Technology University, Nanyang Avenue, Singapore, 2263

K. L. Teo

Australia Telecommunication Research Institute, Curtin University of Technology, GPO Box U 1987, Perth, WA 6001 Australia

J. Dyn. Sys., Meas., Control 119(2), 286-289 (Jun 01, 1997) (4 pages) doi:10.1115/1.2801247 History: Received September 29, 1994; Online December 03, 2007


This paper deals with the position and force control for mechanical systems with holonomic constraints. Our concern is the design of a feedback controller such that the closed-loop system has a satisfactory transient response and is less sensitive to various types of disturbances. Using an appropriate transformation, the constrained system is converted into an unconstrained system of lower order. Then, an H∞ , control problem involving the reduced system is formulated. In the case of state feedback, a systematic design procedure for solving the problem is presented, where the key step is the solution of an algebraic Riccati equation. An example is given to illustrate the effectiveness of the proposed method.

Copyright © 1997 by The American Society of Mechanical Engineers
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