Constraint reactions in optimal control of mechanical systems
Конференцијски прилог (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
This paper is dedicated to the establishment of a general procedure of forming the optimal control problem of variable-mass nonholonomic rheonomic mechanical systems, where reactions of constraints are present in differential equations of motion. Dimensions and structure of a configuration space depend on the number of reactions of constraints that are the subject of our interest, i.e. only the reactions whose magnitudes are subjected to limitations are considered. In this paper, the procedure enables the direct application of Pontryagin’s maximum principle for the systems with limited phase state. Attention is particularly focused on discussing various modes of realizing the control by combining the active control forces and subsequent imposition of ideal holonomic mechanical constraints. Brachistochronic motions play an important role in this type of problems, because in them the control of motion can be realized exclusively with ideal constraints. The paper provides three examples o...f this method application, which are related to the realization of the brachistochronic motion of mechanical systems.
Извор:
Procceding of Forth Serbian (29th Yu) Congress on Theoretical and Applied Mechanics, Society of Mechanics, , Serbia, 4. - 7. Jun, 2013, 2013, 25-42Издавач:
- Beograd : Srpsko društvo za mehaniku
Финансирање / пројекти:
- Одрживост и унапређење машинских система у енергетици и транспорту применом форензичког инжењерства, еко и робуст дизајна (RS-MESTD-Technological Development (TD or TR)-35006)
Напомена:
- Plenarno predavanje po pozivu
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Vuković, Josif AU - Obradović, Aleksandar PY - 2013 UR - https://machinery.mas.bg.ac.rs/handle/123456789/3983 AB - This paper is dedicated to the establishment of a general procedure of forming the optimal control problem of variable-mass nonholonomic rheonomic mechanical systems, where reactions of constraints are present in differential equations of motion. Dimensions and structure of a configuration space depend on the number of reactions of constraints that are the subject of our interest, i.e. only the reactions whose magnitudes are subjected to limitations are considered. In this paper, the procedure enables the direct application of Pontryagin’s maximum principle for the systems with limited phase state. Attention is particularly focused on discussing various modes of realizing the control by combining the active control forces and subsequent imposition of ideal holonomic mechanical constraints. Brachistochronic motions play an important role in this type of problems, because in them the control of motion can be realized exclusively with ideal constraints. The paper provides three examples of this method application, which are related to the realization of the brachistochronic motion of mechanical systems. PB - Beograd : Srpsko društvo za mehaniku C3 - Procceding of Forth Serbian (29th Yu) Congress on Theoretical and Applied Mechanics, Society of Mechanics, , Serbia, 4. - 7. Jun, 2013 T1 - Constraint reactions in optimal control of mechanical systems EP - 42 SP - 25 UR - https://hdl.handle.net/21.15107/rcub_machinery_3983 ER -
@conference{ author = "Vuković, Josif and Obradović, Aleksandar", year = "2013", abstract = "This paper is dedicated to the establishment of a general procedure of forming the optimal control problem of variable-mass nonholonomic rheonomic mechanical systems, where reactions of constraints are present in differential equations of motion. Dimensions and structure of a configuration space depend on the number of reactions of constraints that are the subject of our interest, i.e. only the reactions whose magnitudes are subjected to limitations are considered. In this paper, the procedure enables the direct application of Pontryagin’s maximum principle for the systems with limited phase state. Attention is particularly focused on discussing various modes of realizing the control by combining the active control forces and subsequent imposition of ideal holonomic mechanical constraints. Brachistochronic motions play an important role in this type of problems, because in them the control of motion can be realized exclusively with ideal constraints. The paper provides three examples of this method application, which are related to the realization of the brachistochronic motion of mechanical systems.", publisher = "Beograd : Srpsko društvo za mehaniku", journal = "Procceding of Forth Serbian (29th Yu) Congress on Theoretical and Applied Mechanics, Society of Mechanics, , Serbia, 4. - 7. Jun, 2013", title = "Constraint reactions in optimal control of mechanical systems", pages = "42-25", url = "https://hdl.handle.net/21.15107/rcub_machinery_3983" }
Vuković, J.,& Obradović, A.. (2013). Constraint reactions in optimal control of mechanical systems. in Procceding of Forth Serbian (29th Yu) Congress on Theoretical and Applied Mechanics, Society of Mechanics, , Serbia, 4. - 7. Jun, 2013 Beograd : Srpsko društvo za mehaniku., 25-42. https://hdl.handle.net/21.15107/rcub_machinery_3983
Vuković J, Obradović A. Constraint reactions in optimal control of mechanical systems. in Procceding of Forth Serbian (29th Yu) Congress on Theoretical and Applied Mechanics, Society of Mechanics, , Serbia, 4. - 7. Jun, 2013. 2013;:25-42. https://hdl.handle.net/21.15107/rcub_machinery_3983 .
Vuković, Josif, Obradović, Aleksandar, "Constraint reactions in optimal control of mechanical systems" in Procceding of Forth Serbian (29th Yu) Congress on Theoretical and Applied Mechanics, Society of Mechanics, , Serbia, 4. - 7. Jun, 2013 (2013):25-42, https://hdl.handle.net/21.15107/rcub_machinery_3983 .