Effects of a Delay-Type Directional Actuator on Feedforward Disturbance Attenuation Control System of Flexible Beam

Abstract The idea of a tendon vibration control system for a beam-like flexible space structure has been proposed. To verify the feasibility of the concept, an experimental tendon control system has been constructed for the vibration control of a flexible beam simulating Large Space Structures (LSS). This paper discusses modeling, identification, actuator disposition, and controller design for the experimental system. First, a mathematical model of the whole system of the beam and tendon actuator is developed through a finite element method (FEM). Second, to obtain an accurate mathematical model for designing a controller, unknown characteristic parameters are estimated by using an output error method. The validity of the proposed identification scheme is demonstrated by good agreement between the transfer functions of the experimental system and an identified model. Then, disposition of actuators is discussed by using the modal cost analysis. Finally, controllers are designed for SISO and MIMO systems. The feasibility of the proposed controller is verified through numerical simulation and hardware experiments.

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A Design Method for Two-Degree-of-Freedom Simple Multi-Period Repetitive Control Systems

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.36.243 ◽

2010 ◽

Vol 36 ◽

pp. 243-252 ◽

Cited By ~ 2

Author(s):

Yoshinori Ando ◽

Tatsuya Sakanushi ◽

Kou Yamada ◽

Iwanori Murakami ◽

Takaaki Hagiwara ◽

...

Keyword(s):

Control System ◽

Control Systems ◽

Transfer Functions ◽

Design Method ◽

Output Characteristic ◽

Degree Of Freedom ◽

Disturbance Attenuation ◽

Input Output ◽

Attenuation Characteristic ◽

Two Degree Of Freedom

The multi-period repetitive (MPR) control system is a type of servomechanism for periodic reference inputs. Using MPR controllers, transfer functions from the reference input to the output and from the disturbance to the output of the MPR control system have infinite numbers of poles. To specify the input-output characteristic and the disturbance attenuation characteristic easily, Yamada and Takenaga proposed MPR control systems, named simple multi-period repetitive (simple MPR) control systems, where these transfer functions have finite numbers of poles. In addition, Yamada and Takenaga clarified the parameterization of all stabilizing simple MPR controllers. However, using the simple MPR repetitive controller by Yamada and Takenaga, we cannot specify the input-output characteristic and the disturbance attenuation characteristic separately. From the practical point of view, it is desirable to specify the input-output characteristic and the disturbance attenuation characteristic separately. The purpose of this paper is to propose the parameterization of all stabilizing two-degree-of-freedom (TDOF) simple MPR controllers that can specify the input-output characteristic and the disturbance attenuation characteristic separately.

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Synthesis of ILQ control system for disturbance attenuation

2008 SICE Annual Conference ◽

10.1109/sice.2008.4654858 ◽

2008 ◽

Author(s):

Takao Fujii ◽

Sadaaki Kunimatsu ◽

Osamu Kaneko

Keyword(s):

Control System ◽

Disturbance Attenuation

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Vibration Control of a Flexible Structure Using ER Dampers

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2802432 ◽

1999 ◽

Vol 121 (1) ◽

pp. 134-138 ◽

Cited By ~ 30

Author(s):

Seung-Bok Choi

Keyword(s):

Control System ◽

Vibration Control ◽

Sliding Mode ◽

Shear Mode ◽

Flexible Beam ◽

Short Columns ◽

Flexible Beam System ◽

Er Damper ◽

External Forces ◽

Er Fluid

This technical brief addresses the vibration control of a flexible beam structure using ER (electro-rheological) dampers. A clamped-clamped flexible beam system supported by two short columns is considered. An ER damper which is operated in shear mode is designed on the basis of Bingham model of the ER fluid, and attached to the flexible beam. After deriving the governing equation of motion and associated boundary conditions, a sliding mode controller is formulated to effectively suppress the vibration of the beam caused by external forces. In the formulation of the controller, parameter variations such as frequency deviation are treated to take into account the robustness of control system. The effectiveness of the proposed control system is confirmed by both simulation and experimental results.

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Disturbance attenuation in a SITO feedback control system

Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301) ◽

10.1109/acc.2002.1024852 ◽

2003 ◽

Cited By ~ 5

Author(s):

V. Toochinda ◽

C.V. Hollott ◽

Y. Chait

Keyword(s):

Control System ◽

Feedback Control ◽

Disturbance Attenuation ◽

Feedback Control System

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Position Control of a Flexible Beam Actuated by Two Active SMA Wires

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.420.387 ◽

2013 ◽

Vol 420 ◽

pp. 387-394

Author(s):

Mohammad Reza Zakerzadeh

Keyword(s):

Experimental Data ◽

Control System ◽

Large Deflection ◽

Position Control ◽

Flexible Structure ◽

Flexible Beam ◽

Hysteresis Nonlinearity ◽

Feedforward Controller ◽

Sma Actuator ◽

Position Control System

SMA-actuated flexible structure become nonlinear in large deflection mode and as a result become more sensitive to the actuator applied force. In order to overcome this problem, in this paper, the hysteresis nonlinearity of SMA-actuated flexible structure is modeled by the generalized PrandtlIshlinskii model. Subsequently, a feedforwardfeedback controller is used to control the tip deflection of the SMA-actuated structure. The feedforward part of the control system is based on the inverse generalized PrandtlIshlinskii model while a conventional proportionalintegral feedback controller is added to the feedforward controller to increase the accuracy. However, in order to increase accuracy of position control system, in addition to the main SMA actuator, another auxiliary SMA actuator is attached to the structure. It is shown by the experimental data that, in comparison to the time that only main SMA actuator is attached to the structure, the proposed controller in the new architecture has increased the accuracy of the position control system.

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H∞ Controller Design for an Observer-Based Modified Repetitive-Control System

International Journal of Engineering Mathematics ◽

10.1155/2014/838905 ◽

2014 ◽

Vol 2014 ◽

pp. 1-9 ◽

Cited By ~ 1

Author(s):

Lan Zhou ◽

Jinhua She ◽

Shaowu Zhou ◽

Qiwei Chen

Keyword(s):

Control System ◽

Controller Design ◽

Linear Time ◽

Repetitive Control ◽

State Observer ◽

Disturbance Attenuation ◽

Linear Matrix ◽

Design Algorithm ◽

Linear Time Invariant ◽

Value Decomposition

This paper presents a method of designing a state-observer based modified repetitive-control system that provides a given H∞ level of disturbance attenuation for a class of strictly proper linear plants. Since the time delay in a repetitive controller can be treated as a kind of disturbance, we convert the system design problem into a standard state-feedback H∞ control problem for a linear time-invariant system. The Lyapunov functional and the singular-value decomposition of the output matrix are used to derive a linear-matrix-inequality (LMI) based design algorithm for the parameters of the feedback controller and the state-observer. A numerical example demonstrates the validity of the method.

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