Optimal regulation of flexible structures governed by hybrid dynamics

Abstract

The author considers the problem of optimal control of flexible structures governed by a coupled system of ordinary differential equations and hyperbolic partial differential equations (hybrid dynamics). He presents necessary conditions for determining the control torque and control forces for optimal regulation of the structure along with simultaneous suppression of its elastic vibrations. Illustrative numerical results for the control of a one-link flexible robot are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>