Modal control of flexible systems using distributed sensing

Siddharth P. Nagarkatti; Christopher O. Rahn; Darren M. Dawson; Erkan Zergeroglu; Aniket A. Malatpure

doi:10.1115/IMECE2000-2003

Modal control of flexible systems using distributed sensing

Siddharth P. Nagarkatti, Christopher O. Rahn, Darren M. Dawson, Erkan Zergeroglu, Aniket A. Malatpure

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, we design a modal controller for conservative flexible systems that uses distributed sensing. Spatial filtering of the distributed displacement and velocity measurements based on the system eigenfunctions prevents spillover instabilities in the closed-loop system. The proposed control is proven to stabilize a discrete set of controlled modes without destabilizing the remaining, residual modes. We then apply the theory to a single flexible link robot arm and experimentally demonstrate the feasibility of the proposed control strategy. The experiments use high speed video feedback with image processing to determine the spatial beam curve. The controller quickly damps the first modal response without causing instability in the remaining modes.

Original language	English (US)
Title of host publication	Vibration and Control of Continuous Systems
Publisher	American Society of Mechanical Engineers (ASME)
Pages	11-21
Number of pages	11
ISBN (Electronic)	9780791819234
DOIs	https://doi.org/10.1115/IMECE2000-2003
State	Published - 2000
Event	ASME 2000 International Mechanical Engineering Congress and Exposition, IMECE 2000 - Orlando, United States Duration: Nov 5 2000 → Nov 10 2000

Publication series

Name	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume	2000-AS

Conference

Conference	ASME 2000 International Mechanical Engineering Congress and Exposition, IMECE 2000
Country/Territory	United States
City	Orlando
Period	11/5/00 → 11/10/00

All Science Journal Classification (ASJC) codes

Mechanical Engineering

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10.1115/IMECE2000-2003

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Nagarkatti, S. P., Rahn, C. O., Dawson, D. M., Zergeroglu, E., & Malatpure, A. A. (2000). Modal control of flexible systems using distributed sensing. In Vibration and Control of Continuous Systems (pp. 11-21). (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 2000-AS). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2000-2003

@inproceedings{430921bb7c4a470494d1415b9c758f27,

title = "Modal control of flexible systems using distributed sensing",

abstract = "In this paper, we design a modal controller for conservative flexible systems that uses distributed sensing. Spatial filtering of the distributed displacement and velocity measurements based on the system eigenfunctions prevents spillover instabilities in the closed-loop system. The proposed control is proven to stabilize a discrete set of controlled modes without destabilizing the remaining, residual modes. We then apply the theory to a single flexible link robot arm and experimentally demonstrate the feasibility of the proposed control strategy. The experiments use high speed video feedback with image processing to determine the spatial beam curve. The controller quickly damps the first modal response without causing instability in the remaining modes.",

author = "Nagarkatti, {Siddharth P.} and Rahn, {Christopher O.} and Dawson, {Darren M.} and Erkan Zergeroglu and Malatpure, {Aniket A.}",

note = "Publisher Copyright: {\textcopyright} 2000 by ASME; ASME 2000 International Mechanical Engineering Congress and Exposition, IMECE 2000 ; Conference date: 05-11-2000 Through 10-11-2000",

year = "2000",

doi = "10.1115/IMECE2000-2003",

language = "English (US)",

series = "ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)",

publisher = "American Society of Mechanical Engineers (ASME)",

pages = "11--21",

booktitle = "Vibration and Control of Continuous Systems",

}

Nagarkatti, SP, Rahn, CO, Dawson, DM, Zergeroglu, E & Malatpure, AA 2000, Modal control of flexible systems using distributed sensing. in Vibration and Control of Continuous Systems. ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), vol. 2000-AS, American Society of Mechanical Engineers (ASME), pp. 11-21, ASME 2000 International Mechanical Engineering Congress and Exposition, IMECE 2000, Orlando, United States, 11/5/00. https://doi.org/10.1115/IMECE2000-2003

Modal control of flexible systems using distributed sensing. / Nagarkatti, Siddharth P.; Rahn, Christopher O.; Dawson, Darren M. et al.

Vibration and Control of Continuous Systems. American Society of Mechanical Engineers (ASME), 2000. p. 11-21 (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 2000-AS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Modal control of flexible systems using distributed sensing

AU - Nagarkatti, Siddharth P.

AU - Rahn, Christopher O.

AU - Dawson, Darren M.

AU - Zergeroglu, Erkan

AU - Malatpure, Aniket A.

PY - 2000

Y1 - 2000

N2 - In this paper, we design a modal controller for conservative flexible systems that uses distributed sensing. Spatial filtering of the distributed displacement and velocity measurements based on the system eigenfunctions prevents spillover instabilities in the closed-loop system. The proposed control is proven to stabilize a discrete set of controlled modes without destabilizing the remaining, residual modes. We then apply the theory to a single flexible link robot arm and experimentally demonstrate the feasibility of the proposed control strategy. The experiments use high speed video feedback with image processing to determine the spatial beam curve. The controller quickly damps the first modal response without causing instability in the remaining modes.

AB - In this paper, we design a modal controller for conservative flexible systems that uses distributed sensing. Spatial filtering of the distributed displacement and velocity measurements based on the system eigenfunctions prevents spillover instabilities in the closed-loop system. The proposed control is proven to stabilize a discrete set of controlled modes without destabilizing the remaining, residual modes. We then apply the theory to a single flexible link robot arm and experimentally demonstrate the feasibility of the proposed control strategy. The experiments use high speed video feedback with image processing to determine the spatial beam curve. The controller quickly damps the first modal response without causing instability in the remaining modes.

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M3 - Conference contribution

AN - SCOPUS:85119859087

T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)

SP - 11

EP - 21

BT - Vibration and Control of Continuous Systems

PB - American Society of Mechanical Engineers (ASME)

T2 - ASME 2000 International Mechanical Engineering Congress and Exposition, IMECE 2000

Y2 - 5 November 2000 through 10 November 2000

ER -

Modal control of flexible systems using distributed sensing

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