New techniques for H/sub 2/ optimal control of a flexible beam

2002 ◽  
Author(s):  
D. Vinke ◽  
M. Vidyasagar
Keyword(s):  
Optimal Control ◽  
Flexible Beam ◽  
New Techniques

Discrete-Time LQR and H 2 Damping Control of Flexible Payloads Using a Robot Manipulator With a Wrist-Mounted Force/Torque Sensor

2000 ◽  
Author(s):  
Chunhao Joseph Lee ◽  
Constantinos Mavroidis
Keyword(s):  
Optimal Control ◽  
Discrete Time ◽  
Robot Manipulator ◽  
Control Design ◽  
Degree Of Freedom ◽  
Flexible Beam ◽  
Torque Sensor ◽  
Damping Control ◽  
Control Feedback ◽  
Six Degree Of Freedom

Abstract This paper presents robust and optimal control methods to suppress vibrations of flexible payloads carried by robotic systems. A new improved estimator in discrete-time H2 optimal control design based on the Kalman Filter predictor form is developed here. Two control design methods using state-space models, LQR and H2 Optimal Design, in discrete-time domain are applied and compared. The manipulator joint encoders and the wrist-mounted six-degree-of-freedom force/torque sensor provide the control feedback. A complete dynamic model of the robot/payload system is taken into account to synthesize the controllers. Experimental verifications of both methods are performed using a Mitsubishi five-degree-of-freedom robot manipulator that carries a flexible beam. It is shown that both methods damp out the vibrations of the payload very effectively.

Two new techniques for optimal control

1991 ◽  
Vol 36 (11) ◽  
pp. 1307-1310 ◽  
Author(s):  
Z.-Q. Zuo
Keyword(s):  
Optimal Control ◽  
New Techniques

Vibration Control of a Beam Using the Nearly Optimal Control Algorithm with a Disturbance Force Observer

2001 ◽  
Vol 17 (4) ◽  
pp. 173-177
Author(s):  
Der-An Wang ◽  
Yii-Mai Huang
Keyword(s):  
Optimal Control ◽  
Feedback Control ◽  
Vibration Control ◽  
Feedforward Control ◽  
Active Vibration Control ◽  
Asymptotic Properties ◽  
Control Law ◽  
Flexible Beam ◽  
Active Vibration ◽  
Modal Space

ABSTRACTActive vibration control of a flexible beam subjected to arbitrary, unmeasurable disturbance forces is investigated in this paper. The concept of independent modal space control is adopted. Both the feedforward and feedback control is implemented here to reduce the beam vibration. Because of the existence of the disturbance forces, the feedforward control is applied by employing the idea of force cancellation. A modal space disturbance force observer is then established in this paper to observe the disturbance modal forces for the feedforward control. For obtaining the feedforward and feedback control gains with the optimal sense, the nearly optimal control law is derived, where the modal disturbance forces are regarded as additional states. The vibration control performances and the asymptotic properties of the control law are discussed.

Minimax LQG Optimal Control of a Flexible Beam 1

2000 ◽  
Vol 33 (14) ◽  
pp. 483-488
Author(s):  
Ian R. Petersen ◽  
Hemanshu R. Pota
Keyword(s):  
Optimal Control ◽  
Flexible Beam ◽  
Lqg Optimal Control

Digital Optimal Vibration Control of a Flexible Structure Containing Piezoelectric Elements

2003 ◽  
Author(s):  
Gustavo L. C. M. de Abreu ◽  
Jose´ F. Ribeiro ◽  
Valder Steffen
Keyword(s):  
Optimal Control ◽  
Cantilever Beam ◽  
Control Design ◽  
Linear Quadratic Regulator ◽  
Flexible Beam ◽  
State Estimator ◽  
Linear Quadratic ◽  
Sensors And Actuators ◽  
Piezoelectric Elements ◽  
Beam Type

In this paper, a digital regulator is designed and experimentally implemented for a flexible beam type structure containing piezoelectric sensors and actuators by using optimal control design techniques. The controller consists of a linear quadratic regulator with a state estimator, namely a Kalman observer. The structure is a cantilever beam containing a set of sensor/actuator PVDF/PZT ceramic piezoelectric patches bonded to the beam at optimal location points. Experimental results illustrate the optimal control design of a cantilever beam structure.

Design and Analysis of an Optimal Control Algorithm for the Output of a Stochastic Automaton

1982 ◽  
Vol 5 (1) ◽  
pp. 35-75
Author(s):  
Ernst E. Doberkat
Keyword(s):  
Optimal Control ◽  
Control Algorithm ◽  
Measure Theory ◽  
Optimal Controls ◽  
Real Analysis ◽  
New Techniques ◽  
Average Case ◽  
Stochastic Automaton ◽  
Programming Techniques ◽  
Output Behavior

Given the input-output behavior of a stochastic automaton and a map which compares output words, optimal controls are introduced, and an explicit formula for such a control is derived by means of linear programming techniques. The second part of the paper deals with the situation in which an input and an output word are given and the probability with which the optimal control puts out the word is requested. An algorithm for computing this probability is presented and analysed with respect to its behavior in the worst and in the average case. The latter analysis develops some new techniques, which are necessary since an uncountable variety of possible inputs has to be considered. These techniques come mainly from real analysis, in particular from measure theory.

Minimax LQG optimal control of a flexible beam

2003 ◽  
Vol 11 (11) ◽  
pp. 1273-1287 ◽  
Author(s):  
Ian R. Petersen ◽  
Himanshu R. Pota
Keyword(s):  
Optimal Control ◽  
Flexible Beam ◽  
Lqg Optimal Control

Robust Time-Optimal Control of Flexible Structures With Parametric Uncertainty

1997 ◽  
Vol 119 (4) ◽  
pp. 743-748 ◽  
Author(s):  
Shin-Whar Liu ◽  
Tarunraj Singh
Keyword(s):  
Optimal Control ◽  
Equations Of Motion ◽  
Flexible Structures ◽  
Parametric Uncertainty ◽  
Time Optimal Control ◽  
Flexible Beam ◽  
Nonlinear Simulation ◽  
Switch Time ◽  
Optimal Controllers ◽  
Time Optimal

The design of robust time-optimal controllers using the sensitivity concept is presented in this paper. A parameter optimization problem is solved using the Switch Time Optimization algorithm to determine a bang-bang control profile that minimizes the maneuver time subject to the constraint that the sensitivity of the final states with respect to system parameters are zero. The proposed approach is illustrated on the benchmark floating oscillator problem and a slewing flexible beam whose equations of motion are nonlinear. Simulation results illustrate the reduction of residual vibrations of the system subject to the robust control profile, compared to the time-optimal control profile.

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