Time-Optimal Control for Bilinear Nonnegative-In-Control Systems: Application to Magnetic Manipulation

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00314500" target="_blank" >RIV/68407700:21230/17:00314500 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/67985556:_____/17:00481244

Výsledek na webu

<a href="http://dx.doi.org/10.1016/j.ifacol.2017.08.1916" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2017.08.1916</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.ifacol.2017.08.1916" target="_blank" >10.1016/j.ifacol.2017.08.1916</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Time-Optimal Control for Bilinear Nonnegative-In-Control Systems: Application to Magnetic Manipulation

Popis výsledku v původním jazyce

The paper describes a simple time-optimal control strategy for a class of second-order bilinear systems with nonnegative inputs. The structure of the model is motivated by the task of noncontact manipulation of an object in a planar force field generated by a single source; such setup constitutes a basic building block for a planar manipulation by an array of force field sources. The nonnegative-in-control property means that an object (particle) placed freely in the field can only feel an attractive force towards the source. In this paper we further restrict the control inputs to a binary signal---the field can be switched on and off. The control objective is to bring the object to the origin (where the source of the force field is located) as fast as possible. The optimal switching strategy is proposed using geometric arguments and verified using numerical simulations and experiments with a laboratory platform for noncontact magnetic manipulation.

Název v anglickém jazyce

Time-Optimal Control for Bilinear Nonnegative-In-Control Systems: Application to Magnetic Manipulation

Popis výsledku anglicky

The paper describes a simple time-optimal control strategy for a class of second-order bilinear systems with nonnegative inputs. The structure of the model is motivated by the task of noncontact manipulation of an object in a planar force field generated by a single source; such setup constitutes a basic building block for a planar manipulation by an array of force field sources. The nonnegative-in-control property means that an object (particle) placed freely in the field can only feel an attractive force towards the source. In this paper we further restrict the control inputs to a binary signal---the field can be switched on and off. The control objective is to bring the object to the origin (where the source of the force field is located) as fast as possible. The optimal switching strategy is proposed using geometric arguments and verified using numerical simulations and experiments with a laboratory platform for noncontact magnetic manipulation.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the IFAC 2017 World Congress

ISBN

—

ISSN

2405-8963

e-ISSN

2405-8963

Počet stran výsledku

8

Strana od-do

16032-16039

Název nakladatele

Elsevier

Místo vydání

Kidlington Oxford OX GB

Místo konání akce

Toulouse

Datum konání akce

9. 7. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000423965400189