Helmut Ennsbrunner, Kurt Schlacher,
"Control of Weakly Damped Finite and Infinite Dimensional Euler-Lagrange Systems"
: CD Proceedings 16th IFAC World Congress, Prague, Czech Republic, 7-2005
Original Titel:
Control of Weakly Damped Finite and Infinite Dimensional Euler-Lagrange Systems
Sprache des Titels:
Englisch
Original Buchtitel:
CD Proceedings 16th IFAC World Congress, Prague, Czech Republic
Original Kurzfassung:
This contribution presents the control of a certain kind of mechanical systems based on energy considerations. The plants under investigation are underactuated lumped and distributed parameter systems, which consist of two masses and an elastic element. After a brief introduction of the used mathematical objects, the proposed controller design method is applied to a simple introductory example - the Mass-Spring-Mass system. After that, an infinite dimensional system - the Mass-Beam-Mass system - is under consideration. In this case, the elastic element is given by a Bernoulli-Euler beam. Finally some simulation results demonstrate the improvements gained by the introduced control structure.
Sprache der Kurzfassung:
Englisch
Erscheinungsmonat:
7
Erscheinungsjahr:
2005
Anzahl der Seiten:
6
Notiz zur Publikation:
Ennsbrunner H., Schlacher K.: Control of Weakly Damped Finite and Infinite Dimensional Euler-Lagrange Systems In: CD Proceedings 16th IFAC World Congress, Prague, Czech Republic, July 3-8, 2005
Forschungs-