Wave-based control of non-linear flexible mechanical systems

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Title: Wave-based control of non-linear flexible mechanical systems
Authors: O'Connor, William
Ramos de la Flor, Francisco
McKeown, David
Feliu, Vicente
Permanent link: http://hdl.handle.net/10197/4008
Date: Jul-2009
Abstract: The need to achieve rapid and accurate position control of a system end-point by an actuator working through a flexible system arises frequently, in cases from space structures to disk drive heads, from medical mechanisms to long-arm manipulators, from cranes to special robots. The system’s actuator must then attempt to reconcile two, potentially conflicting, demands: position control and active vibration damping. Somehow each must be achieved while respecting the other’s requirements. Wave-based control is a powerful solution with many advantages over previous techniques. The central idea is to consider the actuator motion as launching mechanical waves into the flexible system while simultaneously absorbing returning waves. This simple, intuitive idea leads to robust, generic, highly efficient, adaptable controllers, allowing rapid and almost vibrationless re-positioning of the remote load (tip mass). This gives a generic, high-performance solution to this important problem that does not depend on an accurate system model or near-ideal actuator behaviour. At first sight wave-based control assumes superposition and therefore linearity. This paper shows that wave-based control is also robust (or can easily be made robust) to non-linear behaviour associated with non-linear elasticity and with large-deflection effects.
Type of material: Journal Article
Publisher: Springer Netherlands
Copyright (published version): 2008 Springer Science+Business Media B.V.
Keywords: Non-linear flexible systemsNon-linear controlActive vibration controlWave-based control
DOI: 10.1007/s11071-008-9425-4
Language: en
Status of Item: Not peer reviewed
Appears in Collections:Mechanical & Materials Engineering Research Collection

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