Switching Zone Control for a System with an Elastic Joint

Abstract

An extension of the powerful switching zone control (SZC) approach to include systems with elastic joints is presented. SZC is a decentralized non-linear feedback controller that approaches the minimum time bang-bang controller in the limit. The controller is robust and has a number of desirable attributes which are discussed in this report. The problems that are resolved in applying SZC to the flexible joint mechanism include stability, controller design, and nonzero steady-state disturbances. Simulation and experimental results demonstrate the usefulness of the developed procedures for practical applications. Decentralized control, Automation, Switching zone control, Bang-bang control, Robotics, Flexible mechanisms.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1989
Accession Number
ADA206870

Entities

People

  • Ronald L. Racicot
  • Sheldon S. Chang

Organizations

  • United States Army Armament Research, Development and Engineering Center

Tags

Communities of Interest

  • Cyber
  • Weapons Technologies

DTIC Thesaurus Topics

  • Air Force
  • Closed Loop Systems
  • Control Systems
  • Diagrams
  • Electrical Engineering
  • Engineering
  • Equations
  • Equations Of Motion
  • Feedback
  • Friction
  • Military Research
  • Phase Diagrams
  • Schematic Diagrams
  • Security
  • Simulations
  • Steady State
  • Vibration

Readers

  • Control Systems Engineering.
  • Distributed Systems and Data Platform Development

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control