Abstract
A method for control of mechanical systems under phase constraints, applicable to energy control of Hamiltonian systems is proposed. The constrained energy control problem for two pendulums by a single control action is studied both analytically and numerically. It is shown that for a proper choice of penalty parameter of the algorithm any energy level for the one pendulum under any specified constraint on the energy of the other pendulum can be achieved. Simulation results confirm fast convergence rate of the algorithm.
| Original language | English |
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| Title of host publication | Proceedings of the 6th EUROMECH Nonlinear Dynamics Conference (ENOC'08) June 30 - July 4, 2008, Saint Petersburg, RUSSIA |
| Place of Publication | St. Petersburg, Russia |
| Publisher | Institute for Problems of Mechanical Engineering |
| Pages | CD-rom-6 p. |
| Publication status | Published - 2008 |
| Event | 6th EUROMECH Nonlinear Dynamics Conference, ENOC 2008 - Saint Petersburg, Russian Federation Duration: 30 Jun 2008 → 4 Jul 2008 Conference number: 6 |
Conference
| Conference | 6th EUROMECH Nonlinear Dynamics Conference, ENOC 2008 |
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| Country/Territory | Russian Federation |
| City | Saint Petersburg |
| Period | 30/06/08 → 4/07/08 |