controller design of a distributed slewing flexible

Combined discrete

1999-7-1Combination of distributed actuators with discrete joint actuators has only received attention in the recent past Lt and Bainum (1994) proposed a two-stage method combining a momentum exchange controller and a distributed PVDF actuator/controller designed by the LQR method for vibration control of a slewing flexible cantilever beam

Robust vibration control of a flexible manipulator in

This paper presents the results of hybrid vibration controllers applied for vibration suppression of flexible manipulator The model of the manipulator is assumed to be uncertain due to varying payload To cater for the model uncertainty the proposed hybrid controller combines robust input shaping for command input with μ-controller applied for active vibration suppression using smart materials

Manoeuvring and vibration reduction of a flexible

An approximate analytical dynamic model of a slewing flexible spacecraft with surface‐bonded piezoelectric sensors/actuators is developed using Hamilton's principle with discretization by assumed model method To satisfy pointing requirements and simultaneously suppress vibration two separate control loops are adopted

Vibration Control Experiment of a Slewing Flexible

Two high-authority control/low-authority control algorithms are presented and experimentally validated on a fast slewing beam system The first one termed the constrained motion method in two-stage (CMM-TS) accomplishes the rigid-body motion control and the optimal control of vibration suppression by a

(J

2020-4-27maneuvering flexible structures Single-axis slew maneuver of a flexible spacecraft consisting of a rigid hub and a number of flexible appendages has been investigated in [4] [SJ [6] and [7] The cost considered in these references is a linear quadratic combination of control effort and

Adaptive Variable Structure Maneuvering Control and

2013-3-16[5] S E Burke and J E Hubbard Jr Distributed Actuator Control Design for Flexible Beams Automatica Vol 24 No 5 pp 619{627 1988 [6] A De Santis and S Di Gennaro Modelling in the Con-tinuum and Control of Large Space Structures 4th Inter-national Conference on Dynamics and Control of Structures in Space Cranfleld U K 24-28

Exact Time

A flexible rod undergoing rest-to-rest motion is used to illustrate the procedure to derive a time-optimal controller for distributed pa-rameter systems in the frequency domain For simplicity we assume that the rod has uniform properties in the axial direction and con-trol input is located at one end of the rod The partial differential

Modeling and control of multibody system with

2020-7-20The objective of this work is to describe the design and the implementation of an experiment to study the dynamics and the active control of a slewing multi-link flexible structure The experimental apparatus was designed to be representative of a flexible space structure such as a satellite with multiple flexible appendages

Control and Design of Flexible

The design process regarding arm shape design to achieve characteristics such as low mass and moments of inertia and high natural frequencies generally requires solution of an optimization problem such as the one introduced in [21] where the optimum torque application point and structural shape for a single flexible arm have been obtained

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Adaptive Control of a Flexible Manipulator using Fuzzy

2016-4-30Fig 2 Solid model design of flexible joint arm A single-link flexible manipulator with tip mass is modeled as developed in that can rotate about the Z perpendicular to the paper as shown in Fig 1 The axial deformation and the gravitational effect are neglected because the mass of the flexible beam is floating over an air

Dynamic analysis of flexible manipulators a literature review

2011-11-28Jalili An in?nite dimensional distributed base controller for regulation of ?exible robot arms ASME Journal of Dynamic Systems Measurement and Control 123 (2001) 712–719 [149] J F Jansen B L Burks S M Babcock R L Kress W R Hamel Long-reach manipulator for waste storage tank remediation ASME DSC-Modeling and Control of Compliant and Rigid Motion Systems 31 (1991)

Modeling and control of multibody system with

2020-7-20The objective of this work is to describe the design and the implementation of an experiment to study the dynamics and the active control of a slewing multi-link flexible structure The experimental apparatus was designed to be representative of a flexible space structure such as a satellite with multiple flexible appendages

Robust Slewing Control of A Flexible Space Structure

This paper presents a robust slewing control of a flexible space structure based on sliding surface design A sliding surface is designed for a single-axis rest-to-rest slewing in view of target angle target angular velocity and root monent of the flexible appendage

Advances in Mechanical Engineering 2015 Vol 7(10) 1–13

2019-10-30surface of the two-link flexible manipulator slewing of the flexible link induces vibrations in the link that persist long after the motors stop moving Vibration suppression is achieved through a combined scheme of input shaper–based motor motion control and an adaptive positive position feedback–based piezo actuator controller

Approximation Theory for Linear

2018-9-18This paper presents approximation theory for the linear-quadratic-Gaussian optimal control problem for flexible structures whose distributed models have bounded input and output operators The main purpose of the theory is to guide the design of finite-dimensional compensators that approximate closely the optimal compensator which is infinite

Genetically‐bacterial swarm optimization Fuzzy pre

Purpose – The purpose of this paper is to propose a novel algorithm which hybridizes the best features of three basic algorithms i e genetic algorithm bacterial foraging and particle swarm optimization (PSO) as genetically bacterial swarm optimization (GBSO) The implementation of GBSO is illustrated by designing the fuzzy pre‐compensated PD (FPPD) control for two‐link rigid

Publications

2019-12-16Oliver R I and Asokanthan S F (1995) A Sliding Mode Controller for Manoeuvring Flexible Spacecraft Proc Control 95 Melbourne October 1995 Asokanthan S F and Gu M (1995) Distributed Control of a Flexible Structure - Theory and Experiments Proc Asia-Pacific Vibration Conference Kuala Lumpoor Nov 1995 pp 447-452

A study of flexible space structures : dynamics and

A relatively general formulation for studying dynamics of flexible multibody orbiting systems in a tree topology is developed It is applicable to a large class of present and future spacecraft and readily amenable to simulation of closed loop systems as well as control system synthesis Some of the distinctive features of the formulation include: (a) its ability to simulate an arbitrary

Dynamic modeling and vibration suppression of a

PACE is a two link flexible multibody experiment constrained to move over the surface of a large granite table In this paper an approximate analytical dynamic model of a single slewing flexible body with surface bonded piezoelectric sensors and actuators is developed using Hamilton's Principle with discretization by the assumed modes method

Energy

This paper presents a class of non-model-based position controllers for a kind of flexible spacecraft With the controllers one can achieve not only the closed-loop stability of the original distributed parameter system but also the asymptotic stability of the truncated system which is obtained through representing the deflection of the appendage by an arbitrary finite number of flexible modes

Optimally distributed actuator placement and control

A method is proposed for determining the optimal placement and controller design for multiple distributed actuators to reduce the vibrations of flexible structures In particular application of piezoceramic patches to a horizontally-slewing single-link flexible manipulator modeled using the assumed modes method is

Boundary Control of the Timoshenko Beam

2018-9-18(1997) Controller Design of a Distributed Slewing Flexible Structure—A Frequency Domain Approach Journal of Dynamic Systems Measurement and Control 119 :4 809-814 (1996) Feedback Stabilization of Timoshenko Beam with Boundary Dissipation

Dynamic analysis of flexible manipulators a literature review

2011-11-28Jalili An in?nite dimensional distributed base controller for regulation of ?exible robot arms ASME Journal of Dynamic Systems Measurement and Control 123 (2001) 712–719 [149] J F Jansen B L Burks S M Babcock R L Kress W R Hamel Long-reach manipulator for waste storage tank remediation ASME DSC-Modeling and Control of Compliant and Rigid Motion Systems 31 (1991)

Optimally distributed actuator placement and control

A method is proposed for determining the optimal placement and controller design for multiple distributed actuators to reduce the vibrations of flexible structures In particular application of piezoceramic patches to a horizontally-slewing single-link flexible manipulator modeled using the assumed modes method is investigated The optimization method uses simulated annealing and allows

Modeling and control of multibody system with

2020-7-20The objective of this work is to describe the design and the implementation of an experiment to study the dynamics and the active control of a slewing multi-link flexible structure The experimental apparatus was designed to be representative of a flexible space structure such as a satellite with multiple flexible appendages