Generalized Input Preshaping Vibration Control Approach for Multi-Link Flexible Manipulators using Machine Intelligence

Mechatronics ◽  
2022 ◽  
Vol 82 ◽  
pp. 102735
Author(s):  
Mehmet Mert İlman ◽  
Şahin Yavuz ◽  
Pelin Yildirim Taser
Keyword(s):  
Vibration Control ◽  
Machine Intelligence ◽  
Flexible Manipulators ◽  
Control Approach

scholarly journals Applications of Approximate Optimal Control to Nonlinear Systems of Tracked Vehicle Suspensions

2021 ◽  
Vol 14 (1) ◽  
Author(s):  
Yan-Jun Liang ◽  
You-Jun Lu ◽  
De-Xin Gao ◽  
Zhong-Sheng Wang
Keyword(s):  
Optimal Control ◽  
Vibration Control ◽  
Ride Comfort ◽  
Nonlinear Dynamic System ◽  
Active Suspension ◽  
Nonlinear Damping ◽  
Tracked Vehicle ◽  
Control Approach ◽  
Vehicle Suspensions ◽  
Suspension Systems

AbstractTechnique of approximate optimal vibration control and simulation for vehicle active suspension systems are developed. Considered the nonlinear damping of springs, mechanical model and a nonlinear dynamic system for a class of tracked vehicle suspension vibration control are established and the corresponding system of state space form is described. To prolong the working life of suspension system and improve ride comfort, based on the active suspension vibration control devices and using optimal control approach, an approximate optimal vibration controller is designed, and an algorithm is presented for the vibration controller. Numerical simulation results illustrate the effectiveness of the proposed technique.

Motion and Vibration Control of Three Dimensional Flexible Shaking Table Using LQI Control Approach

2001 ◽  
Author(s):  
Hidefumi Hiramatsu ◽  
Daijiro Fuji ◽  
Kazuto Seto ◽  
Toru Watanabe
Keyword(s):  
Vibration Control ◽  
Three Dimensional ◽  
Design Procedure ◽  
Equation System ◽  
State Equation ◽  
Shaking Table ◽  
System Model ◽  
Vibration Modes ◽  
Control Approach ◽  
Control Forces

Abstract This paper deals with a design procedure of control system for a three-dimensional flexible shaking table. The shaking table should be less weighted so that actuators require less control forces and higher fidelity to control commands. However, as the weight of shaking table is reduced, the natural frequencies of vibration modes of the table appear on operating frequency region. Such vibration modes get into problem that may cause spillover instability. So, the research purpose is to control such vibration and motion by using the modeling method presented by Seto [1]. Utilizing the model, state equation system model including integrator is composed and feedback controller is designed by using LQI control law. As the system model both includes the multi-degree-of -freedom-structure model and integrator, the designed controller achieves simultaneous motion and vibration control. Computer simulation and control experiments are carried out and the effectiveness of the presented procedure is investigated.

scholarly journals Cooperative Control Method of Active and Semiactive Control: New Framework for Vibration Control

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Kazuhiko Hiramoto
Keyword(s):  
Vibration Control ◽  
Active Control ◽  
Cooperative Control ◽  
Control Method ◽  
Design Method ◽  
Control Object ◽  
Control Device ◽  
Semiactive Control ◽  
Control Input ◽  
Control Approach

A new control design framework for vibration control, the cooperative control of active and semiactive control, is proposed in the paper. In the cooperative control, a structural system having both of an actuator and a semiactive control device, for example, MR damper and so forth, is defined as the control object. In the proposed control approach, the higher control performance is aimed by the cooperative control between the active control with the actuator and the semiactive control with the semiactive control device. A design method to determine the active control input and the command signal to drive the semiactive control device based on the one-step prediction of the control output is proposed. A simulation example of a control system design for a benchmark building is presented to show the effectiveness of the proposed control framework.

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