Vibration Control of the Elastodynamic Response of High-Speed Flexible Linkage Mechanisms

1991 ◽  
Vol 113 (1) ◽  
pp. 14-21 ◽  
Author(s):  
C. K. Sung ◽  
Y. C. Chen
Keyword(s):  
Optimal Control ◽  
High Speed ◽  
State Feedback ◽  
Control Law ◽  
Luenberger Observer ◽  
Control Scheme ◽  
Feedback Optimal Control ◽  
Optimal Control Scheme ◽  
Observation Spillover ◽  
Flexible Linkage

A methodology for suppressing the elastodynamic responses of high-speed flexible linkage mechanisms by employing a state feedback optimal control scheme is proposed. This permits the mechanisms to be subjected to controlled dynamic inputs generated by several pairs of suitably-selected piezoelectric ceramics while additional piezoceramics are utilized as sensing devices. This optimal control scheme includes a feedback control law and a Luenberger observer. The instabilities caused by the combined effect of control and observation spillover are investigated and carefully prevented. Finally, numerical simulation is performed to evaluate the improvement of the elastodynamic responses.

High Speed Transient Temperature Profile Control Using Adjoint-Based Optimal Control Scheme

2011 ◽  
Author(s):  
Satoru Ito ◽  
Yuji Suzuki
Keyword(s):  
Optimal Control ◽  
Temperature Profile ◽  
Active Layer ◽  
Laser Diode ◽  
High Speed ◽  
Transient Temperature ◽  
Control Input ◽  
Control Scheme ◽  
Profile Control ◽  
Optimal Control Scheme

Optimal control scheme for transient temperature profile inside electronic devices such as pulsed laser diode is developed based on the adjoint equation of one-dimensional heat conduction. Joule heating with a thin-film heater is employed as the control input in order to minimize temperature changes of a thin active layer embedded in a modeled laser diode. In numerical simulations assuming the light-emitting time period of 1 μs, temperature variation of the active layer is successfully suppressed by 80% with the heat input prior to the onset of the laser pulse. It is found that the Fourier number of the layer between the control heater and the active layer is the key parameter to minimize the temperature fluctuations. We also successfully demonstrate suppression of the temperature change in a MEMS-based experimental setup.

Feedforward and Feedback Optimal Control of Autonomous Profiling Monitoring Underwater Vehicle with Disturbance

2014 ◽  
Vol 602-605 ◽  
pp. 970-973 ◽  
Author(s):  
Hua Mu ◽  
Jian Yuan
Keyword(s):  
Optimal Control ◽  
Linear System ◽  
Feedback Linearization ◽  
Vertical Plane ◽  
Underwater Vehicle ◽  
Linearization Method ◽  
Control Law ◽  
Control Scheme ◽  
System States ◽  
Feedback Optimal Control

The optimal control of autonomous profiling monitoring underwater vehicle (APMUV) is investigated. Firstly, dynamics equations in vertical plane with disturbances are constructed, and the equations are converted into a linear system by feedback linearization method and then feedforward and feedback optimal control (FFOC) law is designed for the linear system. To solve the unpractical problem of the control law, we construct a disturbance observer to observe the system states to make a quick convergance of the observed system states. Numerical simulations show the effectiveness of the control scheme

scholarly journals Adaptive Dynamic Programming based Control Scheme for Uncertain Two-Wheel Robots

2021 ◽  
Author(s):  
Linh Nguyen
Keyword(s):  
Optimal Control ◽  
Dynamic Programming ◽  
Adaptive Dynamic Programming ◽  
Control Law ◽  
Parameter Uncertainties ◽  
Adaptive Dynamic ◽  
Uncertain Dynamics ◽  
Control Scheme ◽  
State Controller ◽  
Optimal Control Scheme

<div>The paper addresses the problem of effectively controlling a two-wheel robot given its inherent non-linearity and parameter uncertainties. In order to deal with the unknown</div><div>and uncertain dynamics of the robot, it is proposed to employ the adaptive dynamic programming, a reinforcement learning based technique, to develop an optimal control law. It is interesting that the proposed algorithm does not require kinematic parameters while finding the optimal state controller is guaranteed. Moreover, convergence of the optimal control scheme is theoretically proved. The proposed approach was implemented in a synthetic</div><div>two-wheel robot where the obtained results demonstrate its</div><div>effectiveness.</div>

scholarly journals Adaptive Dynamic Programming based Control Scheme for Uncertain Two-Wheel Robots

2021 ◽  
Author(s):  
Linh Nguyen
Keyword(s):  
Optimal Control ◽  
Dynamic Programming ◽  
Adaptive Dynamic Programming ◽  
Control Law ◽  
Parameter Uncertainties ◽  
Adaptive Dynamic ◽  
Uncertain Dynamics ◽  
Control Scheme ◽  
State Controller ◽  
Optimal Control Scheme

<div>The paper addresses the problem of effectively controlling a two-wheel robot given its inherent non-linearity and parameter uncertainties. In order to deal with the unknown</div><div>and uncertain dynamics of the robot, it is proposed to employ the adaptive dynamic programming, a reinforcement learning based technique, to develop an optimal control law. It is interesting that the proposed algorithm does not require kinematic parameters while finding the optimal state controller is guaranteed. Moreover, convergence of the optimal control scheme is theoretically proved. The proposed approach was implemented in a synthetic</div><div>two-wheel robot where the obtained results demonstrate its</div><div>effectiveness.</div>

State Space Analysis and Optimal Control for Aircraft Simulator Pitch Electric Control Loading System

2013 ◽  
Vol 367 ◽  
pp. 382-387
Author(s):  
Chun Ping Pan ◽  
Li Xin Li ◽  
Yong Liang Wang
Keyword(s):  
Mathematical Model ◽  
Optimal Control ◽  
State Space ◽  
State Feedback ◽  
Analog Computer ◽  
Electric Control ◽  
Control Scheme ◽  
Loading System ◽  
Linear State ◽  
Optimal Control Scheme

An electric control loading system for aircraft simulation was analyzed and modeled to find a linear state space mathematical model and state feedback. An optimal control scheme based on the minimum integral of the squared difference between desired and actual output was shown to be effective by comparing the output values of the system with previously obtained experimental data. A linear state space mathematical model and state feedback appear to provide satisfactory means for controlling an electric control loading system can be adjusted to simulate a wide variety of real aircraft by altering input and output gains at the force analog computer when aircraft parameters are changed.

Optimal Control of a Flexible Mechanism Using a Combined Feedforward-Feedback Strategy: Simulation and Experiment

1999 ◽  
Author(s):  
Hubertus v. Stein ◽  
Heinz Ulbrich
Keyword(s):  
Optimal Control ◽  
Control Strategy ◽  
System Performance ◽  
High Speed ◽  
Time Varying ◽  
Linkage Mechanism ◽  
Additional Degree ◽  
Control Approach ◽  
Feedback Optimal Control ◽  
Four Bar Linkage

Abstract Due to the elasticity of the links in modern high speed mechanisms, increasing operating speeds often lead to undesirable vibrations, which may render a required accuracy unattainable or, even worse, lead to a failure of the whole process. The dynamic effects e.g. may lead to intolerable deviations from the reference path or even to the instability of the system. Instead of suppressing the vibration by a stiffer design, active control methods may greatly improve the system performance and lead the way to a reduction of the mechanism’s weight. We investigate a four-bar-linkage mechanism and show that by introducing an additional degree of freedom for a controlled actuator and providing a suitable control strategy, the dynamically induced inaccuracies can be substantially reduced. The modelling of the four-bar-linkage mechanism as a hybrid multi body system and the modelling of the complete system (including the actuator) is briefly explained. From the combined feedforward-feedback optimal control approach presented in (v. Stein, Ulbrich, 1998) a time-varying output control law is derived that leads to a very good system performance for this linear discrete time-varying system. The experimental results show the effectiveness of the applied control strategy.

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