A new perspective on the tracking control of nonlinear structural and mechanical systems
By Firdaus E. Udwadia. Proceedings of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences, 2003
199 citations recorded by the source corpus.
Based on recent results from analytical dynamics, this paper develops a class of tracking controllers for controlling general, nonlinear, structural and mechanical systems. Unlike most control methods that perform some kind of linearization and/or nonlinear cancellation, the methodology developed herein views the nonlinear control problem from a different perspective. This leads to a simple and new control methodology that is capable of ‘exactly’ maintaining the nonlinear system along a certain trajectory, which, in general, may be described by a set of differential equations in the observations/measurements. The approach requires very little computation compared with standard approaches. It is therefore useful for online real–time control of nonlinear systems. The methodology is illustrated with two examples.
Subfields: Control and Systems Engineering, Numerical Analysis
View Paper: https://www.semanticscholar.org/paper/fea60c8e410bda261ff3b4d81ca9357e6964a147
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Citations in the corpus
- Equations of Motion for Constrained Multibody Systems and their Control (2005, background): “where z is any arbitrary n-vector and B+ is the Moore-Penrose inverse of the matrix B = AM −1/2, whose properties are described in equations (13). From equation ( 14 ), we then have”
- A New Approach to Stable Optimal Control of Complex Nonlinear Dynamical Systems (2014, methodology): “which can be rewritten in the form [2,3]”
- Optimal stable control for nonlinear dynamical systems: an analytical dynamics based approach (2015, methodology): “The explicit closed-form control is based on the fundamental equation of mechanics [13–16].”