An Integrated Strategy for the Control of Complex Mechanical Systems Based on Sub-System Optimality Criteria

Abstract

Complex mechanical (or mechatronic) control systems often comprise a number of sub-systems, which may interact dynamically and yet be designed and implemented in isolation from one another - chassis control systems on motor vehicles are a case in point. At the simplest level, this can be wasteful in terms of duplication of transducers or electronic circuitry, and cost savings can be found from allowing systems to ‘talk’ to one another. More importantly, the sharing of dynamic information between different sub-systems can be expected to benefit the overall mechanical performance of the complex system - see for example Mastinu et al (1994). In this paper, a high level of system integration will be considered, on-line dynamic control being optimised with respect to predictions and cost criteria derived from the separate sub-systems.