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Dead‐beat regulation of mechanical juggling systems
Author(s) -
Menini Laura,
Possieri Corrado,
Tornambè Antonio
Publication year - 2018
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1548
Subject(s) - control theory (sociology) , exploit , computer science , beat (acoustics) , parametric statistics , algebraic number , control engineering , mechanical system , trajectory , algorithm , mathematical optimization , mathematics , engineering , control (management) , artificial intelligence , mathematical analysis , statistics , physics , computer security , astronomy , acoustics
In this paper, mechanical systems subject to impacts and contacts, that would be not controllable if the impacts were absent (usually called jugglers ), are considered. On the basis of an algorithm taken from the literature and of a new procedure to determine a reference trajectory for such a class of systems, a fully algorithmic procedure, able to compute a control input that achieves dead–beat regulation of the “uncontrollable” subsystem just by using impacts, is given. Such a procedure exploits some tools borrowed from algebraic geometry that allow to solve parametric systems of equalities and inequalities. A practical example of application of the given procedure is reported.