INDIRECT CONTROL OF THE FORCES OF CONSTRAINT IN DYNAMIC-SYSTEMS

被引：9

作者：

HEMAMI, H

WYMAN, BF

机构：

[1] Department of Electrical Engineering, The Ohio State University, Columbus, OH

[2] Department of Mathematics, The Ohio State University, Columbus, OH

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1979年 / 101卷 / 04期

关键词：

D O I：

10.1115/1.3426451

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper two problems are investigated; how to control a dynamic system such that holonomic constraints are maintained and further the forces of constraint are a priori specified. Two cases of the latter are considered: constant forces of constraint and forces that are functions of the state. The dynamic system is linearized about an operating point and linear feedback is exploited for the solution of both problems. A methodology for computing the feedback gains is developed and applied to a nonhuman biped model that possesses ankle torques in the frontal plane. Simulation results are carried out for the nonlinear biped model to maintain the vertical force of constraint constant under the foot. Applications to locking of joints in natural biological systems is noted. © 1979 ASME.

引用

页码：355 / 360

页数：6

共 34 条

[1] Lanczos C., The Variational Principles of Mechanics, (1949)
[2] Kane T.R., Dynamics, (1968)
[3] Kane T.T., Dynamics of Nonholonomic Systems, ASME Journal of Applied Mechanics, (1961)
[4] Hemami H., Wyman B.F., Modelling and Control of Constrained Dynamic Systems with Application to Biped Locomotion in the Frontal Plane, IEEE Trans. AC, AC-24, pp. 526-535, (1979)
[5] Tomovic R., Role of Variable Kinematic Structure in Control of Skeletal Activities, Automatica and Telemechanica, 6, pp. 117-124, (1976)
[6] Utkin V.I., Variable Structure Systems with Sliding Modes, AC-12, 2, pp. 212-222, (1977)
[7] Whitney D.E., Force Feedback Control of Manipulator Fine Motions, Proc. 1976 Joint Automatic Control Conference, pp. 687-693
[8] Nachtigal C.L., Design of a Force Feedback Chatter Control System, ASME Journal of Dynamic Systems, Measurement, and Control, 94, 1, pp. 5-10, (1972)
[9] Klein R.G., Nachtigal C.L., A Theoretical Basis for the Activ Control of a Boring Bar Operation, ASME Journal of Dynamic System Measurement, and Control, 97, 2, pp. 172-178, (1975)
[10] Klein R.G., Nachtigal C.L., The Application of Active Control to Improve Boaring Bar Performance, ASME Journal of Dynamic Systems, Measurement, and Control, 97, 2, pp. 179-183, (1975)

← 1 2 3 4 →