Pointwise Optimal Control of Dynamical Systems Described by Constrained Coordinates

[+] Author and Article Information
V. Radisavljevic, H. Baruh

Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ 08854

J. Dyn. Sys., Meas., Control 121(4), 594-598 (Dec 01, 1999) (5 pages) doi:10.1115/1.2802521 History: Received March 24, 1997; Online December 03, 2007


A feedback control law is developed for dynamical systems described by constrained generalized coordinates. For certain complex dynamical systems, it is more desirable to develop the mathematical model using more general coordinates then degrees of freedom which leads to differential-algebraic equations of motion. Research in the last few decades has led to several advances in the treatment and in obtaining the solution of differential-algebraic equations. We take advantage of these advances and introduce the differential-algebraic equations and dependent generalized coordinate formulation to control. A tracking feedback control law is designed based on a pointwise-optimal formulation. The stability of pointwise optimal control law is examined.

Copyright © 1999 by The American Society of Mechanical Engineers
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