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: Jadlovská, Slávka, Jadlovská, Anna, Uhľar, Miroslav, Piteľ, Ján
Format: Tagungsbericht
Sprache:eng
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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.
ISSN:0094-243X
1551-7616
DOI:10.1063/5.0212921