Modeling and control of systems with active singularities under energy constraints: single- and multi-impact sequences

Joseph Bentsman, Boris Miller, Eugene Rubinovich, Sudip K Mazumder

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5 Citations (Scopus)


A controller synthesis setting for systems with controlled singularities under incomplete information is extended to the cases characterized by a constraint on the total physical impulse as well as on the time interval between the adjacent engagement phases. The use of this setting for the optimal control law calculation is illustrated on the ball/racket system representative of a large class of controlled impact problems, where there are two separate bodies interacting through controlled viscoelastic force.
Original languageEnglish
Pages (from-to)1854 - 1859
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number7
Publication statusPublished - 2012

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