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Speed-Gradient Control of Mechanical Systems with Constraints

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Mechanics and Model-Based Control of Advanced Engineering Systems

Abstract

State-of-the-art and some applications of the Speed-Gradient method to control of complex systems is presented. A universal speed-gradient method and speed-gradient method for control problems with phase constraints is proposed. Some analytical results are obtained. The application of proposed methods is illustrated by two examples: the selective energy control problem of two pendulums and the average energy control problem of quantum diatomic molecule. Computer simulation results confirm fast convergence rate of algorithms.

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References

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Acknowledgements

The work is supported by Russian Foundation for Basic research (projects 12-01-31354, 11-08-01218).

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Authors and Affiliations

  1. Institute of Problems of Mechanical Engineering, RAS, Bolshoj pr. 61, V.O., Saint-Petersburg, 199178, Russia

    M. S. Ananyevskiy & A. L. Fradkov

Authors
  1. M. S. Ananyevskiy
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  2. A. L. Fradkov
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Correspondence to M. S. Ananyevskiy .

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Editors and Affiliations

  1. Inst. of Problems in Mech. Eng., Russian Academy of Sciences, St. Petersburg, Russia

    Alexander K. Belyaev

  2. Universität Linz, Linz, Austria

    Hans Irschik

  3. Universität Linz, Linz, Austria

    Michael Krommer

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Ananyevskiy, M.S., Fradkov, A.L. (2014). Speed-Gradient Control of Mechanical Systems with Constraints. In: Belyaev, A., Irschik, H., Krommer, M. (eds) Mechanics and Model-Based Control of Advanced Engineering Systems. Springer, Vienna. https://doi.org/10.1007/978-3-7091-1571-8_3

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  • DOI: https://doi.org/10.1007/978-3-7091-1571-8_3

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  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-7091-1570-1

  • Online ISBN: 978-3-7091-1571-8

  • eBook Packages: EngineeringEngineering (R0)

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