Collocated and non-collocated control

Keyword(s):  
Author(s):  
Chingyei Chung ◽  
Chin-yuh Lin

Abstract In this paper, the physical meaning of transfer function zeros for collocated control in a general flexible structure system is discussed. For a flexible structure system, we propose the “Zero Dynamic Theorem”. The theorem states that in a flexible structure system, the flexible structure can be a circulatory system (non-sysmetric stiffness matrix) with viscous and gyroscopic damping (non-symmetric damping matrix), if the sensor output (generalized displacement) and the actuator input (generalized force) are “dual type” and the transfer function is strict proper and coprime (no pole/zero cancellation); then, the transfer function zeros are the natural frequencies of constrained structure. Furthermore, with this theorem, the interlacing pole/zero property for the gyroscopic systems is presented.


Author(s):  
M O Tokhi ◽  
A K M Azad

This paper presents an investigation into the development of open-loop and closed-loop control strategies for flexible manipulator systems. Shaped torque inputs, including Gaussian-shaped and low-pass (Butter-worth and elliptic) filtered input torque functions, are developed and used in an open-loop configuration and their performance studied in comparison to a bang-bang input torque through experimentation on a single-link flexible manipulator system. Closed-loop control strategies that use both collocated (hub angle and hub velocity) and non-collocated (end-point acceleration) feedback are then proposed. A collocated proportional and derivative (PD) control is first developed and its performance studied through experimentation. The collocated control is then extended to incorporate, additionally, non-collocated feedback through a proportional integral derivative (PID) configuration. The performance of the hybrid collocated and non-collocated control strategy thus developed is studied through experimentation. Experimental results verifying the performance of the developed control strategies are presented and discussed.


2005 ◽  
Vol 10 (2) ◽  
pp. 135-145 ◽  
Author(s):  
J. Holterman ◽  
T.J.A. deVries

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