Closed-loop end-point control of a two-link flexible arm with a tip mass

1989 ◽  
Vol 133 (3) ◽  
pp. 483-495 ◽  
Author(s):  
S. Chonan ◽  
A. Umeno
Keyword(s):  
Closed Loop ◽  
End Point ◽  
Flexible Arm ◽  
Point Control ◽  
Tip Mass

Accurate Trajectory Tracking of Flexible Arm End-Point

2000 ◽  
Vol 33 (27) ◽  
pp. 321-326 ◽  
Author(s):  
M. Benosman ◽  
G. Le Vey
Keyword(s):  
Trajectory Tracking ◽  
End Point ◽  
Flexible Arm

Passive optimal feedback control of an articulated flexible arm

2020 ◽  
pp. 107754632095676
Author(s):  
Raja Tebbikh ◽  
Hicham Tebbikh ◽  
Sihem Kechida
Keyword(s):  
Optimal Control ◽  
Feedback Control ◽  
Closed Loop ◽  
Open Loop ◽  
Optimal Feedback Control ◽  
Convolution Operators ◽  
High Frequencies ◽  
Zero Initial Condition ◽  
Flexible Arm ◽  
Euler Bernoulli Beam

This article deals with stabilization and optimal control of an articulated flexible arm by a passive approach. This approach is based on the boundary control of the Euler–Bernoulli beam by means of wave-absorbing feedback. Due to the specific propagative properties of the beam, such controls involve long-memory, non-rational convolution operators. Diffusive realizations of these operators are introduced and used for elaborating an original and efficient wave-absorbing feedback control. The globally passive nature of the closed-loop system gives it the unconditional robustness property, even with the parameters uncertainties of the system. This is not the case in active control, where the system is unstable, because the energy of high frequencies is practically uncontrollable. Our contribution comes in the achievement of optimal control by the diffusion equation. The proposed approach is original in considering a non-zero initial condition of the diffusion as an optimization variable. The optimal arm evolution, in a closed loop, is fixed in an open loop by optimizing a criterion whose variable is the initial diffusion condition. The obtained simulation results clearly illustrate the effectiveness and robustness of the optimal diffusive control.

Study on Dephosphorization Technologies in Converter with Semi-Steel

2011 ◽  
Vol 396-398 ◽  
pp. 1119-1125
Author(s):  
Jian Hua Zeng ◽  
Wei He ◽  
Yong Chen ◽  
Hong Pan
Keyword(s):  
Oxygen Supply ◽  
Average Rate ◽  
High Rate ◽  
Converter Steelmaking ◽  
End Point ◽  
Point Control ◽  
Dephosphorization Rate ◽  
Low Rate

Because of disadvantages of converter steelmaking with semi-steel in Panzhihua Steel, such as slow-footed slag forming, low rate of dephosphorization, high rate of rephosphorization after converter smelting, studies on increasing dephosphorization rate have been carried out. These studies comprise the optimization of slagging process, oxygen supply, bottom argon supply, end-point control of converter smelting, and so on. With these countermeasures, the rate of dephosphorization has been increased obviously. The results show that the average rate of dephosphorization is above 90% with single-slag process during converter smelting. Otherwise, content of phosphorus at the end-point of converter smelting can be controlled below 0.007%, and rephosphorization rate after converter smelting can be controlled below 0.003%, which meets the requirement of [P]≤0.010% for steel products.

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