On the sensitivity of a time-optimal positional control

On the sensitivity of a time-optimal positional control

A second-order differential equation with a discontinuous and nonlinear right-hand side has been taken as the model for positional mechanisms. This model covers a large class of motion resistances, particularly all types of friction. Sensitivity of time-optimal positional control to motion resistanc...

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Veröffentlicht in:IEEE transactions on automatic control 1983-05, Vol.28 (5), p.618-621
1. Verfasser: Hejmo, W.
Format: Artikel
Sprache:eng
Schlagworte:
Automata
Automatic control
Differential equations
Friction
Mechanical factors
Motion control
Optimal control
Robot sensing systems
Robotics and automation
Service robots
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Beschreibung
Zusammenfassung:A second-order differential equation with a discontinuous and nonlinear right-hand side has been taken as the model for positional mechanisms. This model covers a large class of motion resistances, particularly all types of friction. Sensitivity of time-optimal positional control to motion resistances and switching function variations has been investigated. This correspondence also contains some suggestions for practical control structure synthesis. Numerical examples help to illustrate the theoretical analysis.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.1983.1103284