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...
详细信息
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.
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 distributedparameter ...
详细信息
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 distributedparameter 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.
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) a...
详细信息
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.
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...
详细信息
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.
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 perfo...
详细信息
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.
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...
详细信息
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.
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 parametersystem...
详细信息
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 parametersystem, 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.
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 show...
详细信息
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.
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 i...
详细信息
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. Thi...
详细信息
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.
暂无评论