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- W2740082519 abstract "Abstract In this work a new control algorithm for nonlinear underactuated mechanicalsystems (EUK) is proposed. The control problem of nonlinear underactuatedmechanical system forced with nonholonomic constraints is the main objectof many recent researches. In analogy with the Linear Quadratic Regulatoralgorithm (LQR), the proposed algorithm represents the extension of theUdwadia-Kalaba control method (UK) to underactuated mechanical systems.From this extension a new algorithm is originated, namely the extendedUdwadia-Kalaba control method (EUK). The e ectiveness of the combinedalgorithms (EUK) has been tested in the worst-case scenario in which thesystem is excited by an external force whose harmonic content is close tothe rst three system natural frequencies. This paper and its companionrepresent an e ort to improve the control strategy for nonlinear mechanicalsystems. 1 Introduction In this paper a system to perform vibration control of exible structures isproposed [1]. The case study examined is a three-story building model witha pendulum hinged on the third oor [2]. The motivations of this choicecan be summarized in two points. First, the three-story frame, in spite of itssimplicity, is a mechanical system whose dynamical behaviour is qualitativelysimilar to complex exible structures. Therefore, all algorithms capable to" @default.
- W2740082519 created "2017-08-08" @default.
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- W2740082519 date "2012-01-01" @default.
- W2740082519 modified "2023-09-27" @default.
- W2740082519 title "A New Control Algorithm for Nonlinear Underactuated Mechanical Systems" @default.
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