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 proceedingConference 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 languageEnglish (US)
Title of host publicationVibration and Control of Continuous Systems
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages11-21
Number of pages11
ISBN (Electronic)9780791819234
DOIs
StatePublished - 2000
EventASME 2000 International Mechanical Engineering Congress and Exposition, IMECE 2000 - Orlando, United States
Duration: Nov 5 2000Nov 10 2000

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume2000-AS

Conference

ConferenceASME 2000 International Mechanical Engineering Congress and Exposition, IMECE 2000
Country/TerritoryUnited States
CityOrlando
Period11/5/0011/10/00

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering

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