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ON THE SYNTHESIS OF CONTROLS FOR GENERAL NONLINEAR CONSTRAINED MECHANICAL SYSTEMS
by
Thanapat Wanichanon
A Dissertation Presented to the
FACULTY OF THE USC GRADUATE SCHOOL
UNIVERSITY OF SOUTHERN CALIFORNIA
In Partial Fulfillment of the
Requirements for the Degree
DOCTOR OF PHILOSOPHY
(AEROSPACE ENGINEERING)
May 2012
Copyright 2012 Thanapat Wanichanon
Object Description
| Title | On the synthesis of controls for general nonlinear constrained mechanical systems |
| Author | Wanichanon, Thanapat |
| Author email | wanichan@usc.edu;sumosung@hotmail.com |
| Degree | Doctor of Philosophy |
| Document type | Dissertation |
| Degree program | Aerospace Engineering |
| School | Viterbi School of Engineering |
| Date defended/completed | 2012-02-27 |
| Date submitted | 2012-04-30 |
| Date approved | 2012-04-30 |
| Restricted until | 2012-04-30 |
| Date published | 2012-04-30 |
| Advisor (committee chair) | Udwadia, Firdaus E. |
| Advisor (committee member) |
Flashner, Henryk Shiflett, Geoffrey Safonov, Michael G. |
| Abstract | This dissertation develops in a unified manner a new and simple approach for the modeling and controlling of general nonlinear constrained mechanical systems. Since, in general, the description of constrained mechanical systems is highly nonlinear, the determination of the equations of motion of such highly nonlinear constrained mechanical systems is considered one of the central problems in analytical dynamics. Even though this problem has been the focus of numerous studies, several questions remain unanswered at the present time. Of particular importance among these questions is an appropriate approach to obtaining the equations of motion for constrained mechanical systems when the mass matrix of the unconstrained mechanical system is singular, or if there are uncertainties in the description of the systems, what should be done to cancel the effects of this uncertainty while the constrained equations of motion are being derived. Moreover, misinterpretations persist concerning the fundamental conceptualizations for deriving these constrained equations of motion. ❧ The theoretical framework developed in this dissertation provides a concrete explanation that deals with those fundamental conceptualizations for deriving the equations of motion for general nonlinear constrained mechanical systems. Utilizing these fundamental conceptualizations, an explicit constrained equation of motion that works with systems containing either positive semi-definite or positive definite mass matrices is also further developed. And when considering uncertainties, the explicit equation of motion for nonlinear constrained mechanical systems has been modified by augmenting additional additive controllers that are able to guarantee tracking of reference trajectories of the system with no uncertainty assumed. The new, simple, general, and closed-form equations of motion for nonlinear constrained uncertain mechanical systems are thus developed. The results herein provide deeper insights into the behavior of constrained motion and open up new approaches to modeling complex, uncertain, constrained mechanical systems, such as those encountered in real-life multi-body dynamics. |
| Keyword | energy control; fundamental equation of constrained motion; Hamel paradox; singular mass matrix; tracking control; uncertain system |
| Language | English |
| Part of collection | University of Southern California dissertations and theses |
| Publisher (of the original version) | University of Southern California |
| Place of publication (of the original version) | Los Angeles, California |
| Publisher (of the digital version) | University of Southern California. Libraries |
| Provenance | Electronically uploaded by the author |
| Type | texts |
| Legacy record ID | usctheses-m |
| Rights | Wanichanon, Thanapat |
| Access conditions | The author retains rights to his/her dissertation, thesis or other graduate work according to U.S. copyright law. Electronic access is being provided by the USC Libraries in agreement with the author, as the original true and official version of the work, but does not grant the reader permission to use the work if the desired use is covered by copyright. It is the author, as rights holder, who must provide use permission if such use is covered by copyright. The original signature page accompanying the original submission of the work to the USC Libraries is retained by the USC Libraries and a copy of it may be obtained by authorized requesters contacting the repository e-mail address given. |
| Repository name | University of Southern California Digital Library |
| Repository address | USC Digital Library, University of Southern California, University Park Campus MC 7002, 106 University Village, Los Angeles, California 90089-7002, USA |
| Repository email | cisadmin@usc.edu |
| Archival file | uscthesesreloadpub_Volume4/etd-Wanichanon-683.pdf |
Description
| Title | Page 1 |
| Full text | ON THE SYNTHESIS OF CONTROLS FOR GENERAL NONLINEAR CONSTRAINED MECHANICAL SYSTEMS by Thanapat Wanichanon A Dissertation Presented to the FACULTY OF THE USC GRADUATE SCHOOL UNIVERSITY OF SOUTHERN CALIFORNIA In Partial Fulfillment of the Requirements for the Degree DOCTOR OF PHILOSOPHY (AEROSPACE ENGINEERING) May 2012 Copyright 2012 Thanapat Wanichanon |
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