Collocated and non-collocated control

2017 ◽  
pp. 261-292
Keyword(s):  
Collocated Control

Physical Properties of Transfer Function Zeros for Collocated Control in Flexible Structure System

1995 ◽  
Author(s):  
Chingyei Chung ◽  
Chin-yuh Lin
Keyword(s):  
Transfer Function ◽  
Circulatory System ◽  
Flexible Structure ◽  
Structure System ◽  
Zero Dynamic ◽  
Damping Matrix ◽  
Generalized Force ◽  
Function Zeros ◽  
Gyroscopic Systems ◽  
Collocated Control

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.

scholarly journals Control of Flexible Manipulator Systems

1996 ◽  
Vol 210 (2) ◽  
pp. 113-130 ◽  
Author(s):  
M O Tokhi ◽  
A K M Azad
Keyword(s):  
Closed Loop ◽  
Control Strategies ◽  
Open Loop ◽  
Flexible Manipulator ◽  
Closed Loop Control ◽  
Loop Control ◽  
Acceleration Feedback ◽  
Low Pass ◽  
Input Torque ◽  
Collocated Control

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.

Active Damping Based on Decoupled Collocated Control

2005 ◽  
Vol 10 (2) ◽  
pp. 135-145 ◽  
Author(s):  
J. Holterman ◽  
T.J.A. deVries
Keyword(s):  
Active Damping ◽  
Collocated Control
Sign in / Sign up

Export Citation Format

Share Document