Modeling and optimal control of underactuated mechanical systems
The aim of the work is to propose a suitable methodology for modeling underactuated benchmark systems together with its algorithmic implementation in MATLAB/Simulink and subsequent verification through suitable case studies. At the same time, the goal is to use the obtained mathematical models as a...
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Hauptverfasser: | , , , |
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Format: | Tagungsbericht |
Sprache: | eng |
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Online-Zugang: | Volltext |
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Zusammenfassung: | The aim of the work is to propose a suitable methodology for modeling underactuated benchmark systems together with its algorithmic implementation in MATLAB/Simulink and subsequent verification through suitable case studies. At the same time, the goal is to use the obtained mathematical models as a platform for the design of optimal control algorithms based on a linear state model of a dynamic system with subsequent verification on the obtained nonlinear simulation models. |
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ISSN: | 0094-243X 1551-7616 |
DOI: | 10.1063/5.0212921 |