Robust Control of Coordinated Motion for Free-Floating Space Flexible Manipulator by Singular Perturbation Approach

2009 ◽  
Author(s):  
Chen Li ◽  
Hong Zhaobin
Keyword(s):  
Robust Control ◽  
Singular Perturbation ◽  
Active Vibration Control ◽  
Linear Quadratic Regulator ◽  
Flexible Manipulator ◽  
Perturbation Approach ◽  
Linear Quadratic ◽  
Coordinated Motion ◽  
Inertial Parameters ◽  
Optimal Linear

The robust control of coordinated motion and active vibration control for free-floating space flexible manipulator with an attitude-controlled base are studied. The dynamic equations of the system are developed by using the Lagrangian assumed modes methods, it is verified that the dynamic equation can be linearly dependent on a group of inertial parameters. Based on the results and under the assumption of two-time scale, singular perturbation model of the space flexible manipulator system is obtained. The fast subsystem controller will damp out the vibration of the flexible link using optimal Linear Quadratic Regulator (LQR) method. The slow subsystem robust controller dominates the trajectory tracking of coordinated motion. In particular, the control scheme doesn’t require measuring the position, velocity nor acceleration of the base. The numerical simulation is carried out, which confirms the controller proposed is feasible and effective.

Observer-based two-time scale robust control of free-flying flexible-joint space manipulators with external disturbances

Robotica ◽  
2017 ◽  
Vol 35 (11) ◽  
pp. 2201-2217 ◽  
Author(s):  
Xiaoyan Yu ◽  
Li Chen
Keyword(s):  
Robust Control ◽  
Singular Perturbation ◽  
Time Scale ◽  
Joint Space ◽  
Perturbation Approach ◽  
Linear Quadratic ◽  
Lagrange Equations ◽  
Flexible Joint ◽  
Space Manipulators ◽  
Slow Subsystem

SUMMARYObserver-based two-time scale robust control is proposed for free-flying flexible-joint space manipulators with unknown payload parameters and bounded disturbances. The dynamic equations of a free-flying space manipulator with two flexible revolute joints were derived by the momentum conservation law and the Lagrange equations. A flexibility compensator was introduced to make the equivalent joint stiffness large enough, which made traditional singular perturbation approach applicable. Then, a singular perturbation model was formulated and a reduced-order controller is proposed. This controller consisted of a slow sub-controller and a fast flexible-joint sub-controller. To the slow subsystem, a sliding observer based robust slow sub-controller was proposed. By optimal linear quadratic regulator method, the fast sub-controller was designed with the estimated velocity by linear observer. This fast sub-controller could stabilize the fast subsystem around the equilibrium trajectory created by the slow subsystem under the effect of the slow control. Finally the numerical simulations were carried out, which showed that elastic joint vibrations had been stabilized effectively and good tracking performances had been achieved.

Active Vibration Control of a CMOS-MEMS Nano-Newton Capacitive Force Sensor for Bio Application Using PZT

2012 ◽  
Vol 628 ◽  
pp. 317-323
Author(s):  
Reza Jalil Mozhdehi ◽  
Ali Selk Ghafari ◽  
Abolghasem Zabiholah ◽  
Ali Meghdari
Keyword(s):  
Active Vibration Control ◽  
Linear Quadratic Regulator ◽  
Force Sensor ◽  
Vertical Vibration ◽  
Control Voltage ◽  
Linear Quadratic ◽  
Control Approach ◽  
Out Of Plane ◽  
Optimal Linear ◽  
Cmos Mems

This paper reports the design of an optimal controller to prevent suppressvertical vibration due to undesired out of plane excitations generated by environment or gripper during manipulation for a CMOS-MEMS Nano-Newton capacitive force sensor applied for biomedical applications. Undesired out of plane excitations generated by environment or gripper during manipulation is the most prevalent source of vertical vibration in this type of sensors. To suppress the vibrational movement a PZT 5A is used as actuation mechanism. Discrete element method DEM model and Modal analysis were used to find dominant natural frequencies and mode shape vectors. To eliminate out of plane excitation an optimal linear quadratic regulator is proposed using By State-Space formulation. Simulation results illustrate that by employing optimum LQR control approach the maximum disturbance input is suppressed less than 0.7 sec with acceptable range of control voltage amplitude.

Comparison of Control Methods for Two-Link Planar Flexible Manipulator

2017 ◽  
Author(s):  
Joseph Bowkett ◽  
Rudranarayan Mukherjee
Keyword(s):  
Position Control ◽  
Linear Quadratic Regulator ◽  
Flexible Manipulator ◽  
Linear Quadratic ◽  
Large Space ◽  
Loop Control ◽  
Command Shaping ◽  
Aerospace Applications ◽  
Control Command ◽  
Low Stiffness

While the majority of terrestrial multi-link manipulators can be considered in a purely kinematic sense due to their high stiffness, the launch mass restrictions of aerospace applications such as in-orbit assembly of large space structures result in low stiffness links being employed, meaning dynamics can no longer be ignored. This paper seeks to investigate the suitability of several different open and closed loop control techniques for application to the problem of end effector position control with minimal vibration for a low stiffness space based manipulator. Simulations of a representative planar problem with two flexible links are used to measure performance and sensitivity to parameter variation of: model predictive control, command shaping, and command shaping with linear quadratic regulator (LQR) feedback. An experimental testbed is then used to validate simulation results for the recommended command shaped controller.

A Controllability-Based TO Approach for the Piezoelectric Actuator Design Considering Multimodal Vibration Control

2020 ◽  
pp. 2043009
Author(s):  
Juliano F. Gonçalves ◽  
Emílio C. N. Silva ◽  
Daniel M. De Leon ◽  
Eduardo A. Perondi
Keyword(s):  
Vibration Control ◽  
Active Vibration Control ◽  
Optimization Procedure ◽  
Linear Quadratic Regulator ◽  
Time Interval ◽  
Control Performance ◽  
Linear Quadratic ◽  
Main Work ◽  
Design Variables ◽  
Material Interpolation

This paper addresses the design problem of piezoelectric actuators for multimodal active vibration control. The design process is carried out by a topology optimization procedure which aims at maximizing a control performance index written in terms of the controllability Gramian, which is a measure that describes the ability of the actuator to move the structure from an initial condition to a desired final state in a finite time interval. The main work contribution is that independent sets of design variables are associated with each modal controllability index, then the multi-objective problem can be split into independent single-objective problems. Thus, no weighting factors are required to be tuned to give each vibration mode a suitable relevance in the optimization problem. A material interpolation scheme based on the Solid Isotropic Material with Penalization (SIMP) and the Piezoelectric Material with Penalization (PEMAP) models is employed to consider the different sets of design variables and the sensitivity analysis is carried out analytically. Numerical examples are presented by considering the design and vibration control for a cantilever beam and a beam fixed at both ends to show the efficacy of the proposed formulation. The control performance of the optimized actuators is analyzed using a Linear-Quadratic Regulator (LQR) simulation.

Dynamic Modeling and Vibration Control of a Space Flexible Manipulator Using Piezoelectric Actuators and Sensors

2011 ◽  
Vol 345 ◽  
pp. 46-52 ◽  
Author(s):  
Jun Qiang Lou ◽  
Yan Ding Wei
Keyword(s):  
Vibration Control ◽  
Dynamic Modeling ◽  
Vibration Suppression ◽  
Equations Of Motion ◽  
Linear Quadratic Regulator ◽  
Flexible Manipulator ◽  
Coupled Vibration ◽  
Linear Quadratic ◽  
Space Manipulator ◽  
Tip Mass

This paper concerns the dynamic modeling and vibration control of a space two-link flexible manipulator. Two types of PZT actuators, PZT shear actuator and torsional actuator, are used to suppress the bending-torsional-coupled vibration of the space manipulator. Using extended Hamilton’s principle and the finite element method, equations of motion of the space flexible manipulator with PZT actuators and tip mass are obtained. Based on modal analyze theory, the state space model of the system is then used to design the control system. A linear quadratic regulator (LQR) controller is designed to achieve vibration suppression of the space manipulator system. From the numerical results, we can get that the proposed controller has a suitable and efficient performance suppressing the bending-torsional-coupled vibration of the space two-link flexible manipulator.

scholarly journals Optimization of parameters of a modal active control in a beam of composite material

2018 ◽  
Vol 211 ◽  
pp. 19002
Author(s):  
Camila Albertin Xavier da Silva ◽  
Erik Taketa ◽  
Edson Hideki Koroishi ◽  
Fabian Andres Lara-Molina ◽  
Albert Willian Faria
Keyword(s):  
Composite Material ◽  
Active Control ◽  
Active Vibration Control ◽  
Linear Quadratic Regulator ◽  
Optimization Methods ◽  
Linear Matrix ◽  
Linear Quadratic ◽  
Electromagnetic Actuators ◽  
Optimization Of Parameters ◽  
The Time Domain

The present work proposes the active vibration control in a beam of composite material, using electromagnetic actuators, in order to obtain a reduction in the response of the displacement of the system associated to a reduction in energy consumption. The control theory used was the linear quadratic regulator solved by linear matrix inequalities. The electromagnetic actuator was then linearized using a methodology similar to that used in magnetic bearings. The work also proposes to study the optimization of parameters applied in this active control, by means of the heuristic optimization methods. From numerical simulations, the system´s response was obtained in the time domain that demonstrated the efficiency of the proposed technique in the active control of vibrations.

Robust Control and Synchronization of Chaotic Systems with Actuator Constraints

2015 ◽  
pp. 1-43 ◽  
Author(s):  
Kouamana Bousson ◽  
Carlos Velosa
Keyword(s):  
Robust Control ◽  
Chaotic System ◽  
Chaotic Systems ◽  
Linear Part ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Aeroelastic System ◽  
Control Approach ◽  
Nonlinear Part ◽  
Actuator Constraints

This chapter proposes a robust control approach for the class of chaotic systems subject to magnitude and rate actuator constraints. The approach consists of decomposing the chaotic system into a linear part plus a nonlinear part to form an augmented system comprising the system itself and the integral of the output error. The resulting system is posteriorly seen as a linear system plus a bounded disturbance, and two robust controllers are applied: first, a controller based on a generalization of the Lyapunov function, then a Linear-Quadratic Regulator (LQR) with a prescribed degree of stability. Numerical simulations are performed to validate the approach applying it to the Lorenz chaotic system and to a chaotic aeroelastic system, and parameter uncertainties are also considered to prove its robustness. The results confirm the effectiveness of the approach, and the constraints are guaranteed as opposed to other control techniques which do not consider any kind of constraints.

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