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Wave-based control of under-actuated flexible structures with strong external disturbing forces
Author(s)
Date Issued
2012-05
Date Available
2013-01-11T16:59:31Z
Abstract
Wave-based control (WBC) of underactuated,
flexible systems considers actuator motion as launching a mechanical wave into
the flexible system which it then absorbs on its return to the actuator. The launching
and absorbing proceed simultaneously. This simple, intuitive idea leads to
robust, generic, highly efficient, precise, adaptable controllers, allowing
rapid and almost vibrationless re-positioning of the system, using only sensors
colocated at the actuator-system interface. These wave-based ideas have already
been shown to work on simple systems such as mass-spring strings, systems of
Euler-Bernoulli beams, and flexible space structures undergoing slewing motion
(rotation with lateral translation). The current work extends this strategy to
systems experiencing external disturbing forces, whether body forces which
endure over time, such as gravitational effects which change with system
orientation, or transient forces such as from impacts or external viscous
damping. The revised strategy additionally provides robustness to some sensor
errors. The strategy has the controller
learn about the disturbances and compensate for them, yet without needing new
sensors or measurements beyond those of standard WBC.
Type of Material
Conference Publication
Publisher
Institute of Engineering and Computational Mechanics
Copyright (Published Version)
2012 Elsevier B.V.
Language
English
Status of Item
Peer reviewed
Part of
Book of abstracts / The 2nd Joint International Conference on Multibody System Dynamics : Stuttgart, Germany, May 29 - June 1, 2012 / [organized by University of Stuttgart, Institute of Engineering and Computational Mechanics. Chairman: Peter Eberhard]
Conference Details
The 2nd Joint International Conference on Multibody System Dynamics, Stuttgart, Germany, May, 2012
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