A particular class of jugglers, i.e., linear mechanical systems, subject to impacts, which would not be controllable, if the impacts were absent, is considered. The main objective is to give a fully algorithmic procedure for the computation of the continuous-time reference trajectory for this class of systems, that, combined with an existing control law, constitutes the solution of the global dead-beat regulation of the uncontrollable subsystem, just by using impacts.
Menini, L., Possieri, C., Tornambe', A. (2015). On the computation of the continuous-time reference trajectory for mechanical juggling systems. In Proceedings of the IEEE Conference on Decision and Control (pp.145-150). Institute of Electrical and Electronics Engineers Inc. [10.1109/CDC.2015.7402100].
On the computation of the continuous-time reference trajectory for mechanical juggling systems
MENINI, LAURA;POSSIERI, CORRADO;TORNAMBE', ANTONIO
2015-01-01
Abstract
A particular class of jugglers, i.e., linear mechanical systems, subject to impacts, which would not be controllable, if the impacts were absent, is considered. The main objective is to give a fully algorithmic procedure for the computation of the continuous-time reference trajectory for this class of systems, that, combined with an existing control law, constitutes the solution of the global dead-beat regulation of the uncontrollable subsystem, just by using impacts.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
