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mechanical systems

Nonlinear H_inf -Control of Mechanical Systems under Unilateral Constraints on the Position

Nonlinear H_inf -Control of Mechanical Systems under Unilateral Constraints on the Position

... In this paper, the state feedback ℋ -control is solved for mechanical systems subject to unilateral constraints on the position. A global (local) solution for the tracking problem is found by solving only a ...

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Maximum feedback linearization with internal stability of 2-DOF underactuated mechanical systems

Maximum feedback linearization with internal stability of 2-DOF underactuated mechanical systems

... Keywords: Stability, Equilibrium, Nonlinear control systems, Mechanical systems, Feedback linearization. 1. INTRODUCTION Exact feedback linearization lies in the heart of the suc- cess of modern ...

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Subspace and maximum likelihood identification of nonlinear mechanical systems

Subspace and maximum likelihood identification of nonlinear mechanical systems

... Vrije Universiteit Brussel Pleinlaan 2, B-1050, Brussels, Belgium Abstract The present work focuses on a recent nonlinear generalisation of the existing (linear) frequency- domain, discrete-time subspace methods ...

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Statistical damage localization in mechanical systems based on load vectors

Statistical damage localization in mechanical systems based on load vectors

... of mechanical systems aims at detecting and diagnosing damages, in general by using output-only vibration measurements under ambient ...on mechanical grounds, damage is located in elements of a ...

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The dynamics of discrete mechanical systems with perfect unilateral constraints

The dynamics of discrete mechanical systems with perfect unilateral constraints

... discrete mechanical systems with uni- lateral constraints, there is no such a theorem, although many steps towards this direction have been made during the past twenty ...

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Joint state and parameter estimation for distributed mechanical systems

Joint state and parameter estimation for distributed mechanical systems

... distributed mechanical systems have been recently renewed and extended – in particular – by the rapidly developing applications of biomechanics in medicine [36, 4, ...dynamical systems – by using ...

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Fault prognostics of micro-electro-mechanical systems using particle filtering

Fault prognostics of micro-electro-mechanical systems using particle filtering

... Micro-Electro-Mechanical Systems (MEMS) are micro- systems that integrate mechanical components using elec- tricity as source of energy in order to perform measurement functions and/or ...

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Two-input two-output port model for mechanical systems

Two-input two-output port model for mechanical systems

... perform mechanical/control co-design, for instance for sizing the main mechanical param- eters of a space robotics arms and for designing the control laws to meet some specifications (bandwitdh, accuracy) ...

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Nonlinear state feedback H-infinity-control of mechanical systems under unilateral constraints

Nonlinear state feedback H-infinity-control of mechanical systems under unilateral constraints

... of mechanical systems, equation (1) describes the continuous dynamics before the underlying system hits the reset surface F(x 1 ) = 0, depending on the position only, whilst the restitution law, given by ...

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Set-based design of mechanical systems with design robustness integrated

Set-based design of mechanical systems with design robustness integrated

... A body of research exists describing both the process and philosophy of the set-based design and the tools and methods employed to carry it out. The term set-based design itself has been coined by Finch and Ward (1997), ...

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Nonlinear Control of Mechanical Systems with an Unactuated Cyclic Variable

Nonlinear Control of Mechanical Systems with an Unactuated Cyclic Variable

... I. I NTRODUCTION Underactuated mechanical systems have fewer actuators than degrees of freedom. Underactuation is naturally associ- ated with dexterity. For example, the act of standing with one foot flat ...

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L$^1$-minimization for mechanical systems

L$^1$-minimization for mechanical systems

... order systems whose drift is defined by the gradient of a given potential are considered, and minimization of the L 1 -norm of the control is ...order mechanical systems, order two singular ...

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Reactive Power Compensation in Mechanical Systems

Reactive Power Compensation in Mechanical Systems

... rotational mechanical systems like robot joints, the instantaneous power delivered by a motion actuator is given by the product between the joint torque and the joint ...the mechanical load ...

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Simulation of fractionally damped mechanical systems by means of a Newmark-diffusive scheme

Simulation of fractionally damped mechanical systems by means of a Newmark-diffusive scheme

... dynamic systems containing fractional ...second-order mechanical systems (obtained for example after finite element discretization), with a diffusive representation based on the transformation of the ...

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Generic dynamic simulation for mechanical systems

Generic dynamic simulation for mechanical systems

... multibody systems that allows arbitrary mechanical systems to be simulated, without having to re-derive system dynamics equations ...multibody systems leads to a system-independent form ...

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Comparison of damage localization in mechanical systems based on Stochastic Subspace Identification method

Comparison of damage localization in mechanical systems based on Stochastic Subspace Identification method

... vectors. Mechanical Systems and Signal Processing, 39(1), 426-440, ...localization. Mechanical Systems and Signal Processing, 58, 143-159, ...

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Filtering for distributed mechanical systems using position measurements: perspectives in medical imaging

Filtering for distributed mechanical systems using position measurements: perspectives in medical imaging

... dynamical systems limited in size, due to the costs induced by the computation of the filter, both in terms of stor- age and CPU ...large systems by reducing the size of the space of “uncertain variables” ...

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Robust filtering for joint state parameter estimation for distributed mechanical systems

Robust filtering for joint state parameter estimation for distributed mechanical systems

... distributed mechanical systems in partic- ular, the state filter can rely on collocated feedback, and we have demonstrated the effectiveness of our approach using a test problem inspired from cardiac ...

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Role of conserved quantities in Fourier’s law for diffusive mechanical systems

Role of conserved quantities in Fourier’s law for diffusive mechanical systems

... diffusive systems where energy and the other conserved quantities evolve macroscopically on the same diffusive space-time ...such systems, where energy and angular momentum are ...for systems where ...

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Finding the Maximal Pose Error in Robotic Mechanical Systems Using Constraint Programming

Finding the Maximal Pose Error in Robotic Mechanical Systems Using Constraint Programming

... programming and optimization 6 and ECL i PS e is one of the few CP systems supporting continuous optimization problems. We have tested 8 models, 4 translations (T) and 4 rotation (R) models. For both types of ...

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