RESEARCH PAPERS: Papers on Control Mechanics

Algorithms for Degree of Controllability of Uncertain Mechanical Systems

[+] Author and Article Information
R. S. Guttalu, J. M. Skowronski

Department of Mechanical Engineering, University of Southern California, Los Angeles, CA 90089-1453

J. Dyn. Sys., Meas., Control 111(4), 600-604 (Dec 01, 1989) (5 pages) doi:10.1115/1.3153100 History: Received March 01, 1988; Revised August 27, 1988; Online July 21, 2009


The retrograde (or backward-time evolution) point mapping numerical method introduced by C. S. Hsu is employed in conjunction with the Liapunov type sufficient conditions to determine the boundary of recovery region (or region of controllability with given control) or the degree of controllability for mechanical systems. The computational algorithm developed here is applicable to highly nonlinear and coupled mechanical systems. In addition, these systems are subjected to uncertainty in some parameters. As an example, the theory developed here is illustrated on a single degree of freedom Duffing system.

Copyright © 1989 by ASME
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