Patent ID: 6266578
Filing Date: 2001-07-24
Classification: B25J,G05B

Abstract:
A control system for operating a physical plant having interrelated mechanical elements and a response characteristic described by M(x,t)x=F(x,x,t) in generalized coordinates x(t) to follow predetermined desired trajectory requirements, wherein forces that can act on the elements include inertial forces, externally applied forces and control forces, F being exclusive of control forces, the system comprising:(a) a control computer;(b) means for storing in the computer values corresponding to M and F of the response characteristic;(c) means for measuring a p-vector y(t) related to x(t);(d) means for specifying the trajectory requirements as h.sub.i (y,y,t)=0,i=1,2, . . . , s and/or g.sub.i (y,t)=0,i=1,2, . . . , (m-s);(e) means for transforming and storing in the computer the trajectory requirements as h=-.function..sup.(1) (h,t) and/or g=-.function..sup.(2) (g,g,t), wherein a fixed point h=0=g=g is asymptotically stable within a domain of attraction that includes deviations from the trajectory requirements;(f) means for determining control forces as ##EQU16##(g) means for driving the plant by the control forces, thereby to generate the desired trajectory therein.