449 Design of Piezoelectric Actuator Shape for Smart Structures : Approach with Numerical Optimization and Positive-Real Property

2001 ◽  
Vol 2001.14 (0) ◽  
pp. 501-502
Author(s):  
Itsuro KAJIWARA ◽  
Shinji HARA ◽  
Manabu UEHARA ◽  
Hirokazu YAMAUCHI
Keyword(s):  
Piezoelectric Actuator ◽  
Numerical Optimization ◽  
Smart Structures ◽  
Real Property ◽  
Positive Real

scholarly journals 636 Vibration Control Method of Smart Structures Using Positive Real

2007 ◽  
Vol 2007 (0) ◽  
pp. _636-1_-_636-6_
Author(s):  
Takahito KATAOKA ◽  
Masayuki AOU ◽  
Itsuro KAJIWARA
Keyword(s):  
Vibration Control ◽  
Control Method ◽  
Smart Structures ◽  
Positive Real

Design of Gain-Scheduled Strictly Positive Real Controllers Using Numerical Optimization for Flexible Robotic Systems

2010 ◽  
Vol 132 (3) ◽  
Author(s):  
James Richard Forbes ◽  
Christopher John Damaren
Keyword(s):  
Numerical Optimization ◽  
Optimization Problems ◽  
Tracking Error ◽  
Flexible Manipulator ◽  
Robotic Systems ◽  
Positive Real ◽  
Simple Method ◽  
Strictly Positive Real ◽  
Gain Scheduled Controller ◽  
Gain Scheduled

The design of gain-scheduled strictly positive real (SPR) controllers using numerical optimization is considered. Our motivation is robust, yet accurate motion control of flexible robotic systems via the passivity theorem. It is proven that a family of very strictly passive compensators scheduled via time- or state-dependent scheduling signals is also very strictly passive. Two optimization problems are posed; we first present a simple method to optimize the linear SPR controllers, which compose the gain-scheduled controller. Second, we formulate the optimization problem associated with the gain-scheduled controller itself. Restricting our investigation to time-dependent scheduling signals, the signals are parameterized, and the optimization objective function seeks to find the form of the scheduling signals, which minimizes a combination of the manipulator tip tracking error and the control effort. A numerical example employing a two-link flexible manipulator is used to demonstrate the effectiveness of the optimal gain-scheduling algorithm. The closed-loop system performance is improved, and it is shown that the optimal scheduling signals are not necessarily linear.

A Development of Miniaturized Piezoelectric Actuator System for Mobile Smart Structures

2006 ◽  
pp. 1395-1398 ◽  
Author(s):  
In Pil Kang ◽  
Hyo Byung Chae ◽  
Ki Hoon Park ◽  
Kwang Joon Yoon ◽  
Sang Yoon Lee ◽  
...  
Keyword(s):  
Piezoelectric Actuator ◽  
Smart Structures ◽  
Actuator System
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