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Sensitivity reduction of mechanical descriptor systems


Jiang, D and Yan, WY and Teo, KL, Sensitivity reduction of mechanical descriptor systems, Trans. ASME, Journal of Dynamic Systems Measurement and Control, 119, (2) pp. 286-289. ISSN 0022-0434 (1997) [Refereed Article]

DOI: doi:10.1115/1.2801247


This paper deals with the position and force control for mechanicalsystems with holonomic constraints. Our concern is thedesign of a feedback controller such that the closed-loop systemhas a satisfactory transient response and is less sensitive tovarious types of disturbances. Using an appropriate transformation, the constrained system is converted into an unconstrainedsystem of lower order. Then, an H ∞ control probleminvolving the reduced system is formulated. In the case of statefeedback, a systematic design procedure for solving the problemis presented, where the key step is the solution of an algebraicRiccati equation. An example is given to illustrate the effectivenessof the proposed method. © 1997 ASME.

Item Details

Item Type:Refereed Article
Research Division:Engineering
Research Group:Control engineering, mechatronics and robotics
Research Field:Automation engineering
Objective Division:Information and Communication Services
Objective Group:Other information and communication services
Objective Field:Other information and communication services not elsewhere classified
UTAS Author:Jiang, D (Dr Danchi Jiang)
ID Code:44430
Year Published:1997
Deposited By:Engineering
Deposited On:2007-05-23
Last Modified:2007-05-23

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