Controllability and decomposition in mechanical systems
The method of oriented manifolds [1] is used to obtain criteria for the controllability of non-linear mechanical systems of general form. For systems that are linear in control, the question of controllability is reduced to an analysis of the solvability of a system of partial differential equations...
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Published in | Journal of applied mathematics and mechanics Vol. 64; no. 1; pp. 25 - 34 |
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Main Authors | , |
Format | Journal Article |
Language | English |
Published |
Elsevier Ltd
2000
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Abstract | The method of oriented manifolds [1] is used to obtain criteria for the controllability of non-linear mechanical systems of general form. For systems that are linear in control, the question of controllability is reduced to an analysis of the solvability of a system of partial differential equations of special form typical of the invariant relations method and the Lyapunov function method. When the number of controls is equal to the number degrees of freedom, using the example of specific systems with two degrees of freedom the case of confluence of the matrix of coefficients for the control vector in the equations of motion is considered. In the context of a discussion of the property [2] of complete controllability of classes of mechanical systems, problem formulations are proposed in which weakening of the property of control robustness (only variation of the constant parameters is allowed) enables new classes of controllable systems to be obtained. The important case, for mechanics, of the decomposability of the equations of motion into kinematic and dynamic equations is investigated and a theorem establishing the relation between the controllability of the linear system and its dynamical subsystem is proved. Examples are given. The problem of controlling the angular velocity and orientation of a rigid body by means of a single jet engine is considered, for the solution of which the method of oriented manifolds and the decomposition method are used. |
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AbstractList | The method of oriented manifolds [1] is used to obtain criteria for the controllability of non-linear mechanical systems of general form. For systems that are linear in control, the question of controllability is reduced to an analysis of the solvability of a system of partial differential equations of special form typical of the invariant relations method and the Lyapunov function method. When the number of controls is equal to the number degrees of freedom, using the example of specific systems with two degrees of freedom the case of confluence of the matrix of coefficients for the control vector in the equations of motion is considered. In the context of a discussion of the property [2] of complete controllability of classes of mechanical systems, problem formulations are proposed in which weakening of the property of control robustness (only variation of the constant parameters is allowed) enables new classes of controllable systems to be obtained. The important case, for mechanics, of the decomposability of the equations of motion into kinematic and dynamic equations is investigated and a theorem establishing the relation between the controllability of the linear system and its dynamical subsystem is proved. Examples are given. The problem of controlling the angular velocity and orientation of a rigid body by means of a single jet engine is considered, for the solution of which the method of oriented manifolds and the decomposition method are used. |
Author | Vujičič, V.A. Kovalev, A.M. |
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References | Kovalev (BIB3) 1991; 55 Levi-Civita, Amaldi (BIB5) 1927 Korobov (BIB6) 1973; 9 Pavlovskii (BIB8) 1984; 2 Kovalev (BIB1) 1995; 59 Pyatnitskii (BIB7) 1988; 300 Pyatnitskii (BIB2) 1996; 60 Agrachev, Sarychev (BIB9) 1983; 12 Kovalev (BIB4) 1980 Korobov (10.1016/S0021-8928(00)00022-8_BIB6) 1973; 9 Agrachev (10.1016/S0021-8928(00)00022-8_BIB9) 1983; 12 Pyatnitskii (10.1016/S0021-8928(00)00022-8_BIB2) 1996; 60 Kovalev (10.1016/S0021-8928(00)00022-8_BIB3) 1991; 55 Kovalev (10.1016/S0021-8928(00)00022-8_BIB4) 1980 Levi-Civita (10.1016/S0021-8928(00)00022-8_BIB5) 1927 Pavlovskii (10.1016/S0021-8928(00)00022-8_BIB8) 1984; 2 Kovalev (10.1016/S0021-8928(00)00022-8_BIB1) 1995; 59 Pyatnitskii (10.1016/S0021-8928(00)00022-8_BIB7) 1988; 300 |
References_xml | – volume: 60 start-page: 707 year: 1996 end-page: 718 ident: BIB2 article-title: A criterion of complete controllability of classes of mechanical systems with constrained controls publication-title: Prikl. Mat. Mekh. contributor: fullname: Pyatnitskii – volume: 55 start-page: 639 year: 1991 end-page: 646 ident: BIB3 article-title: Oriented manifolds and the controllability of dynamical systems publication-title: Prikl. Mat Mekh. contributor: fullname: Kovalev – volume: 59 start-page: 401 year: 1995 end-page: 409 ident: BIB1 article-title: A criterion of controllability and the suffucient conditions of stabilizability of dynamical systems publication-title: Prikl. Mat. Mekh. contributor: fullname: Kovalev – volume: 9 start-page: 614 year: 1973 end-page: 619 ident: BIB6 article-title: The controllability and stability of certain non-linear systems publication-title: Differents. Uraveniya contributor: fullname: Korobov – volume: 2 start-page: 45 year: 1984 end-page: 57 ident: BIB8 article-title: The theory of factorization and decomposition of controlled dynamical systems and its applications publication-title: Izv. Akad. Nauk SSSR. Tekhn. Kibernetika contributor: fullname: Pavlovskii – volume: 12 start-page: 335 year: 1983 end-page: 347 ident: BIB9 article-title: Control of the rotation of an asymmetrical rigid body publication-title: Problemy Upravleniya i Teorii Informatsii contributor: fullname: Sarychev – year: 1927 ident: BIB5 article-title: Lezioni di Meccanica Razionale contributor: fullname: Amaldi – volume: 300 start-page: 300 year: 1988 end-page: 303 ident: BIB7 article-title: The principle of decomposition in the control of mechanical systems publication-title: Dokl. Akad. Nauk SSSR contributor: fullname: Pyatnitskii – year: 1980 ident: BIB4 article-title: Non-linear Problems of Control and Observation in the Theory of Dynamical Systems contributor: fullname: Kovalev – volume: 12 start-page: 335 issue: 5 year: 1983 ident: 10.1016/S0021-8928(00)00022-8_BIB9 article-title: Control of the rotation of an asymmetrical rigid body publication-title: Problemy Upravleniya i Teorii Informatsii contributor: fullname: Agrachev – volume: 59 start-page: 401 issue: 3 year: 1995 ident: 10.1016/S0021-8928(00)00022-8_BIB1 article-title: A criterion of controllability and the suffucient conditions of stabilizability of dynamical systems publication-title: Prikl. Mat. Mekh. contributor: fullname: Kovalev – volume: 55 start-page: 639 issue: 4 year: 1991 ident: 10.1016/S0021-8928(00)00022-8_BIB3 article-title: Oriented manifolds and the controllability of dynamical systems publication-title: Prikl. Mat Mekh. contributor: fullname: Kovalev – year: 1927 ident: 10.1016/S0021-8928(00)00022-8_BIB5 contributor: fullname: Levi-Civita – volume: 2 start-page: 45 year: 1984 ident: 10.1016/S0021-8928(00)00022-8_BIB8 article-title: The theory of factorization and decomposition of controlled dynamical systems and its applications publication-title: Izv. Akad. Nauk SSSR. Tekhn. Kibernetika contributor: fullname: Pavlovskii – year: 1980 ident: 10.1016/S0021-8928(00)00022-8_BIB4 contributor: fullname: Kovalev – volume: 300 start-page: 300 issue: 2 year: 1988 ident: 10.1016/S0021-8928(00)00022-8_BIB7 article-title: The principle of decomposition in the control of mechanical systems publication-title: Dokl. Akad. Nauk SSSR contributor: fullname: Pyatnitskii – volume: 9 start-page: 614 issue: 4 year: 1973 ident: 10.1016/S0021-8928(00)00022-8_BIB6 article-title: The controllability and stability of certain non-linear systems publication-title: Differents. Uraveniya contributor: fullname: Korobov – volume: 60 start-page: 707 issue: 5 year: 1996 ident: 10.1016/S0021-8928(00)00022-8_BIB2 article-title: A criterion of complete controllability of classes of mechanical systems with constrained controls publication-title: Prikl. Mat. Mekh. contributor: fullname: Pyatnitskii |
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