Multi-objective optimal design and experimental validation of tracking control of a rotating flexible beam

2014 ◽  
Vol 333 (19) ◽  
pp. 4415-4426 ◽  
Author(s):  
Long-Xiang Chen ◽  
Jian-Qiao Sun
Author(s):  
Bo Xie ◽  
Bin Yao

This paper presented multi-objective optimization of tip tracking control for non-collocated flexible beam. The desired trajectory is specified at the tip displacement of the flexible structure, which undergoes translation base motion actuated by a linear motor. The system model is first formulated from modal truncation approach for the flexible structure representing a single Cartesian robot manipulator. The linear system model of the flexible structure always has structural uncertainties. Robust stability and robust performance on tip tracking can be expressed as H2/H∞ norm constraints, which are converted into the Linear Matrix Inequality (LMI). The multi-objective controller design is solved by the convex minimization. In order to reduce the conservatism generated when the same Lyapunov matrix is selected, the Lyapunov matrix is scaled for different norm constraints. Simulation results have demonstrated favorable tip tracking of the proposed robust controller.


Author(s):  
Antonio Carlos de Assis Silva ◽  
João Bosco Gonçalves ◽  
Alvaro Manoel de Souza Soares

Energies ◽  
2021 ◽  
Vol 14 (8) ◽  
pp. 2261
Author(s):  
Evgeniy Ganev ◽  
Boyan Ivanov ◽  
Natasha Vaklieva-Bancheva ◽  
Elisaveta Kirilova ◽  
Yunzile Dzhelil

This study proposes a multi-objective approach for the optimal design of a sustainable Integrated Biodiesel/Diesel Supply Chain (IBDSC) based on first- (sunflower and rapeseed) and second-generation (waste cooking oil and animal fat) feedstocks with solid waste use. It includes mixed-integer linear programming (MILP) models of the economic, environmental and social impact of IBDSC, and respective criteria defined in terms of costs. The purpose is to obtain the optimal number, sizes and locations of bio-refineries and solid waste plants; the areas and amounts of feedstocks needed for biodiesel production; and the transportation mode. The approach is applied on a real case study in which the territory of Bulgaria with its 27 districts is considered. Optimization problems are formulated for a 5-year period using either environmental or economic criteria and the remainder are defined as constraints. The obtained results show that in the case of the economic criterion, 14% of the agricultural land should be used for sunflower and 2% for rapeseed cultivation, while for the environmental case, 12% should be used for rapeseed and 3% for sunflower. In this case, the price of biodiesel is 14% higher, and the generated pollutants are 6.6% lower. The optimal transport for both cases is rail.


Author(s):  
Hailin Huang ◽  
Bing Li ◽  
Zongquan Deng ◽  
Rongqiang Liu

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