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Boundary control of a two-dimensional flexible rotor

INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 2001年第6期15卷 589-614页

作者： Nagarkatti, SP Dawson, DM de Queiroz, MS Zhang, F Costic, B Clemson Univ Dept Elect & Comp Engn Clemson SC 29634 USA

In this paper, we present the design of boundary controllers for a two-dimensional, spinning flexible rotor system. Specifically, we develop a model-based boundary controller which exponentially regulates the rotor's displacement and the angular velocity tracking error, and an adaptive boundary controller which asymptotically achieves the same control objective while compensating for parametric uncertainty. As opposed to previous boundary control work, which focused on the velocity setpoint problem and placed restrictions on the magnitude of the desired angular velocity setpoint, the proposed control architecture achieves angular velocity tracking with no restrictions on the magnitude of the desired velocity trajectory. Experimental results conducted on a flexible rotor tested are presented to illustrate the feasibility of implementing the proposed boundary control laws. Copyright (C) 2001 John Wiley & Sons, Ltd.

关键词： boundary control distributed parameter system non-linear control flexible rotor Lyapunov analysis

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Boundary control of a Timoshenko beam system with input dead-zone

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INTERNATIONAL JOURNAL OF CONTROL 2015年第6期88卷 1257-1270页

作者： He, Wei Meng, Tingting Liu, Jin-Kun Qin, Hui Univ Elect Sci & Technol China Sch Automat Engn Chengdu 611731 Peoples R China Univ Elect Sci & Technol China Ctr Robot Chengdu 611731 Peoples R China Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China

In this paper, boundary control is designed for a Timoshenko beam system with the input dead-zone. By the Hamilton's principle, the dynamics of the Timoshenko beam system is represented by a distributed parameter model with two partial differential equations and four ordinary differential equations. The bounded part is separated from the input dead-zone and then forms the disturbance-like term together with the boundary disturbance, which finally acts on the Timoshenko beam system. Boundary control, based on the Lyapunov's direct method, is proposed to ensure the Timoshenko beam converge into a small neighbourhood of zero, where stability of the system is also analysed. Besides, the existence and uniqueness of the solution of the Timoshenko beam system are proved. Simulations are provided to reveal the applicability and effectiveness of the proposed control scheme.

关键词： distributed parameter system vibration control input dead-zone Timoshenko beam

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Cooperative Fault-Tolerant Control for a Mobile Dual Flexible Manipulator With Output Constraints

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2022年第4期19卷 2689-2698页

作者： Zhang, Shuang Wu, Yue He, Xiuyu Liu, Zhijie Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China Univ Sci & Technol Beijing Inst Artificial Intelligence Beijing 100083 Peoples R China Univ Sci & Technol Beijing Shunde Grad Sch Foshan 528300 Peoples R China

This article discusses cooperative control of a mobile dual flexible manipulator system with asymmetric time-varying output constraints and actuator failures. The shift function and a barrier Lyapunov function (BLF) are used to guarantee output constraints when the initial states of the system violate the prescribed constraints. Moreover, an adaptive fault-tolerant control scheme is developed to deal with actuator failures, while suppressing system's vibration and achieving cooperative operation. Finally, theoretic analysis proves the uniform bounded stability of the system and numerical simulation verifies the effectiveness of the proposed control method.

关键词： Actuators Manipulator dynamics Fault tolerant systems Fault tolerance Task analysis Grasping Vibrations Actuator failure cooperative fault-tolerant control distributed parameter system dual flexible manipulator output constraint

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LOW-AUTHORITY CONTROL OF LARGE SPACE STRUCTURES BY USING A TENDON CONTROL-system

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 1989年第2期12卷 264-272页

作者： MUROTSU, Y OKUBO, H TERUI, F Univ. Osaka Prefect. Osaka Japan

This paper deals with the problem of controlling the vibrations of large space structures by the use of a newly conceived torque actuation device, i.e., a tendon control system. It consists of a pair of tension cables transmitting a control torque to the structure at the moment arm position. The purpose of the study is twofold: first, to establish the analytical framework for low-authority control synthesis; second, to validate the proposed concept through a hardware experiment. A nonlinear optimization approach is proposed for the design of the control gains and the moment arm placement. This approach is useful when the total number of control devices is smaller than the number of critical vibrational modes, and exact pole placement is not possible. A hardware experiment has been done successfully, which shows the fundamental feasibility of the active tendon control for a highly flexible beam.

关键词： Large Space Structures Control system Design Actuators Position Sensing distributed parameter system Flexible Structures Aeronautical Engineering Automatic Flight Control systems Structural system Optimal Control Theory

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PIEZOELECTRIC ACTUATOR DESIGN FOR VIBRATION SUPPRESSION - PLACEMENT AND SIZING

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 1993年第5期16卷 859-864页

作者： DEVASIA, S MERESSI, T PADEN, B BAYO, E University of California Santa Barbara Santa Barbara California 93106

In this paper we consider the problem of simultaneous placement and sizing of distributed piezoelectric actuators to achieve the control objective of damping vibrations in a uniform beam. For several closed-loop performance measures we obtain optimal placement and sizing of the actuators using a simple numerical search algorithm. These measures are applied to the specific example of a simply-supported beam with piezoelectric actuators, and their relative effectiveness is discussed. We demonstrate that the controllability grammian is not suitable to determine actuator placement for vibration suppression problems.

关键词： Transverse Vibrations Piezoelectric Actuators distributed parameter system Simply Supported Beams Search Algorithm Capacitance Young's Modulus Flexible Structures Algebraic Riccati Equation Hysteresis

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Tip position control of flexible single-link manipulators in the frequency domain without model reduction

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2024年第6期34卷 3994-4013页

作者： Mohsenipour, Reza Liu, Guangjun Toronto Metropolitan Univ Dept Aerosp Engn Toronto ON M5B 2K3 Canada

This article develops the fundamentals of the tip position control of flexible single-link robotic manipulators in the frequency domain without approximating the model. Analytic transfer functions of the hub angle and tip position are derived without any model order reduction. Conditions for the stability of the transfer functions are presented by considering the payload mass change as an uncertain parameter. Using the D-decomposition method, a simple procedure is introduced to design an output feedback controller which guarantees the stability and a desired tracking performance. The introduced design method leads to less conservatism comparing with design methods established upon model reduction. The controller structure includes two proportional-derivative and integral loops and needs only two measurements of joint angle and tip position which are easily implementable. A numerical example is provided to demonstrate the merit of the achieved results.

关键词： distributed parameter system flexible single-link manipulator tip position control

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Boundary vibration control for a two-link rigid-flexible manipulator with quantized input

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JOURNAL OF VIBRATION AND CONTROL 2019年第23-24期25卷 2935-2945页

作者： Cao, Fangfei Liu, Jinkun Beihang Univ Sch Automat Sci & Elect Engn Beijing Peoples R China

The aim of this paper is to investigate the control problem for a two-link rigid-flexible manipulator with input quantization. Abundant studies of the quantized control problem are based on the lumped parameter system, which is expressed using ordinary differential equations. In this paper, the dynamic model for a two-link rigid-flexible manipulator is represented using partial differential equations. The controller design and analysis with input quantization are based on the partial differential equation model. By means of an auxiliary system, tracking errors and boundary vibrations can be eliminated. Simulations are given to verify the effectiveness of the proposed controller with quantized input.

关键词： Two-link rigid-flexible manipulator boundary vibration control input quantization distributed parameter system partial differential equation model

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Modeling and state estimation for gas transmission networks

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JOURNAL OF NATURAL GAS SCIENCE AND ENGINEERING 2015年 22卷 551-570页

作者： Behrooz, Hesam Ahmadian Boozarjomehry, R. Bozorgmehry Sharif Univ Technol Dept Chem & Petr Engn Tehran Iran

In this paper, a non-isothermal model of natural gas in pipelines including mass, momentum and energy balance equations are used as model equations for modeling and state estimation in gas pipeline systems. It is shown that differential equations describing the dynamic behavior of a high-pressure and long-distance gas transmission network (GTN) can be solved efficiently using the orthogonal collocation method. The issues corresponding to the presence of discontinuities in the dynamic model is substantially discussed and studied. The non-isothermal model of a GTN can experience discontinuities during transient operations, which causes challenges in simulation and state estimation in this system. An algorithm is proposed to handle the discontinuities that appear in the dynamic model of a GTN. The states of GTN are estimated using the continuous/discrete form of the extended Kalman filter for two benchmarks and some heuristic rules for sensor placement in a GTN are concluded. To avoid the singularity in the observability analysis of GTNs, a recursive method for the observability analysis of these networks is used. (C) 2015 Elsevier B.V. All rights reserved.

关键词： High-pressure gas networks Orthogonal collocation Flow reversal Discontinuity Kalman filtering distributed parameter system

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ACTIVE SUPPRESSION OF TRAVELING WAVES IN STRUCTURES

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 1989年第4期12卷 555-567页

作者： BENNIGHOF, JK MEIROVITCH, L VIRGINIA POLYTECH INST & STATE UNIV DEPT ENGN SCI & MECHBLACKSBURGVA 24061

This paper is concerned with the control of traveling waves in structures. Two approaches are used, independent modal-space control (IMSC) and direct feedback control. It is demonstrated that direct feedback control is more suitable for problems in which a large number of higher modes require control and IMSC is more attractive when the number of modes in need of control is not large or when inherent damping provides passive control, suppressing the higher modes. One fact worthy of notice is that although IMSC represents a global approach compared to direct feedback control, the actuator forces still tend to concentrate near localized disturbances such as traveling waves. © 1980 American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Actuators Feedback Control system distributed parameter system Modal Space Control Algebraic Riccati Equation Transverse Vibrations Flexible Structures Strain Rate Stiffness Matrices Dirac Delta Function

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Approximate controllability of infinite dimensional systems of the n-th order

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INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE 2008年第2期18卷 199-212页

作者： Respondek, Jerzy Stefan Silesian Tech Univ Inst Comp Sci PL-44100 Gliwice Poland

The objective of the article is to obtain general conditions for several types of controllability at once for an abstract differential equation of arbitrary order, instead of conditions for a fixed order equation. This innovative approach was possible owing to analyzing the n-th order linear system in the Frobenius form which generates a Jordan transition matrix of the Vandermonde form. We extensively used the fact that the knowledge of the inverse of a Jordan transition matrix enables us to directly verify the controllability by Chen's theorem. We used the explicit analytical form of the inverse Vandermonde matrix. This enabled us to obtain more general conditions for different types of controllability for infinite dimensional systems than the conditions existing in the literature so far. The methods introduced can be easily adapted to the analysis of other dynamic properties of the systems considered.

关键词： inverse Vandermonde matrix basic symmetrical polynomials distributed parameter system linear operators controllability

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