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Active Vibration Suppression of One-dimensional Nonlinear Structures Using Optimal Dynamic Inversion

Ali, Faruque Sk and Padhi, Radhakant (2008) Active Vibration Suppression of One-dimensional Nonlinear Structures Using Optimal Dynamic Inversion. In: 22nd IEEE International Symposium on Intelligent Control Part of IEEE Multi-conference on Systems and Control, 1-3 October 2007, Singapore.

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Abstract

A flexible robot arm can be modeled as an Euler-Bernoulli beam which are infinite degrees of freedom (DOF) system. Proper control is needed to track the desired motion of a robotic arm. The infinite number of DOF of beams are reduced to finite number for controller implementation, which brings in error (due to their distributed nature). Therefore, to represent reality better distributed parameter systems (DPS) should be controlled using the systems partial differential equation (PDE) directly. In this paper, we propose to use a recently developed optimal dynamic inversion technique to design a controller to suppress nonlinear vibration of a beam. The method used in this paper determines control forces directly from the PDE model of the system. The formulation has better practical significance, because it leads to a closed form solution of the controller (hence avoids computational issues).

Item Type: Conference Paper
Additional Information: Copyright 2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 24 Nov 2011 06:23
Last Modified: 24 Nov 2011 06:23
URI: http://eprints.iisc.ernet.in/id/eprint/41677

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