Wave-based control of under-actuated flexible structures with strong external disturbing forces

Files in This Item:
File Description SizeFormat 
OConnorHabibi_fullpaper.doc146.5 kBMicrosoft WordDownload
Title: Wave-based control of under-actuated flexible structures with strong external disturbing forces
Authors: O'Connor, William
Habibi, Hossein
Permanent link: http://hdl.handle.net/10197/4013
Date: May-2012
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.
Keywords: Wave-based control;Flexible system control;Flexible robots;Disturbances
Language: en
Status of Item: Peer reviewed
Is 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
Appears in Collections:Mechanical & Materials Engineering Research Collection

Show full item record

Page view(s) 20

130
checked on May 25, 2018

Download(s) 50

102
checked on May 25, 2018

Google ScholarTM

Check


This item is available under the Attribution-NonCommercial-NoDerivs 3.0 Ireland. No item may be reproduced for commercial purposes. For other possible restrictions on use please refer to the publisher's URL where this is made available, or to notes contained in the item itself. Other terms may apply.