Shape Control of Flexible Structures

Author:

Kashiwase Toshio1,Tabata Masaki1,Tsuchiya Kazuo1,Akishita Sadao1

Affiliation:

1. Central Research Laboratory Mitsubishi Electric Corporation Amagasaki, Hyogo, 661 Japan, Department of Mechanical Engineering Ritsumeikan University Kyoto, 603 Japan

Abstract

A shape control algorithm for a large flexible structure is proposed: (a) a reduced order model, which represents the precise shape of a structure; (b) a shape esti mation filter, which reduces the estimation error caused not only by the white noises of sensor measurements but also by the variation of the D.C. offsets of sensors; (c) a simple and robust controller to regulate many state variables by using many sensors and actuators. The controller is realized by a zero proportional, integral, derivative controller (zero P-ID controller) with the concept of low authority control/high authority control (LAC/HAC). The proposed shape control algorithm is illustrated through applications to a numerical model of an experimental setup.

Publisher

SAGE Publications

Subject

Mechanical Engineering,General Materials Science

Cited by 13 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Robot Intelligence for Real World Applications;Chinese Journal of Electronics;2018-05

2. Robust Shape Control of Deformable Objects Using Model-Based Techniques;Advanced Robotics;2011-01

3. Autonomous Shape Control of a Deformable Object by Multiple Manipulators;Journal of Intelligent & Robotic Systems;2010-05-25

4. Shape control of a deformable object by multiple manipulators;2009 IEEE/RSJ International Conference on Intelligent Robots and Systems;2009-10

5. An active vibration control model for coupled flexible systems;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2008-11-01

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