0481244 20240111140950.020171113235959.9 85044860482 000423965400189 10.1016/j.ifacol.2017.08.1916 Time-optimal Control for Bilinear Nonnegative-in-control-Systems: Application to Magnetic Manipulation IFAC PapersOnLine 50-1 (2017) 16032–16039 8 s. E cav_un_epca*04814432405-8963IFAC-PapersOnLine. Volume 50, Issue 1. : 20th IFAC World Congress16032-16039AmsterdamElsevier2017DochainD.HenrionD.PeaucelleD. Bang-bang control Bilinear systems Mechatronic systems Minimum-time control Optimal Control cav_un_auth*0095357 Zemánek J. CZ cav_un_auth*0101074 Čelikovský Sergej UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0021097 Hurák Z. CZ 862 KB cav_un_auth*0347203 GA17-04682S GA ČR CZ The paper describes a simple time-optimal control strategy for a class of secondorder 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. cav_un_auth*0353255 World Congress of the IFAC 2017 /20./ 20170709 20170714 Toulouse FR BC 10000 10200 10201 2018 3 PR RVO:67985556 http://hdl.handle.net/11104/0277000 cav_un_auth*0348966 Faculty of Electrical Engineering, Czech Technical University in Prague, Prague CZ S RIV/67985556:_____/17:00481244!RIV18-AV0-67985556 191975719 Doplnění UT WOS a Scopus a oprava překlepu v názvu RIV/67985556:_____/17:00481244!RIV18-GA0-67985556 191965049 Doplnění UT WOS a Scopus a oprava překlepu v názvu 3+4 Proceedings Paper Automation Control Systems n.a. Proceedings Paper Automation Control Systems n.a. Proceedings Paper Automation Control Systems 0.298 Q3 2017 85044860482 SCOPUS PUBMED 000423965400189 WOS 862 KB cav_un_epca*0481443 IFAC-PapersOnLine. Volume 50, Issue 1. : 20th IFAC World Congress 2405-8963 16032 16039 Amsterdam Elsevier 2017 Dochain D. 340 340 Henrion D. 340 Peaucelle D.