상세정보
학술지
Invariant Slow Manifold Approach for Exact Dynamic Inversion of Singularly Perturbed Linear Mechanical Systems with Admissible Output Constraints
- 저자
- 정주노, 조영수, 이승익
- 발행일
- 201206
- 출처
- Journal of Sound and Vibration, v.331 no.16, pp.3710-3720
- ISSN
- 0022-460X
- 출판사
- Elsevier,
- 협약과제
- 10MC9600, 양팔 작업을 위한 센서융합 인지 기반 제어기술 개발 및 다중로봇 협업 생산공정 적용 기술 개발, 김중배
- 초록
- We propose an approach for the exact dynamic inversion of singularly perturbed second-order linear systems through asymptotic expansion in a singular parameter. We show that the inversion solution, corresponding to the invariant slow manifold, can be expressed as a converging infinite series under desired output constraints composed of exponential support functions in the complex domain. We provide systematic mathematical procedures to obtain the closed-form invariant slow manifold, along with required admissible boundary conditions. Numerical examples are given to validate the proposed approach. © 2012 Elsevier Ltd. All rights reserved.
- KSP 제안 키워드
- Asymptotic expansion, Boundary conditions, Complex domain, Infinite series, Linear systems, Numerical examples, Output Constraints, Slow manifold, Support functions, closed-form, dynamic inversion