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Reducing model uncertainty effects in flexible manipulators through the addition of passive damping
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Alberts, T. E. |
| Copyright Year | 1987 |
| Description | An important issue in the control of practical systems is the effect of model uncertainty on closed loop performance. This is of particular concern when flexible structures are to be controlled, due to the fact that states associated with higher frequency vibration modes are truncated in order to make the control problem tractable. Digital simulations of a single-link manipulator system are employed to demonstrate that passive damping added to the flexible member reduces adverse effects associated with model uncertainty. A controller was designed based on a model including only one flexible mode. This controller was applied to larger order systems to evaluate the effects of modal truncation. Simulations using a Linear Quadratic Regulator (LQR) design assuming full state feedback illustrate the effect of control spillover. Simulations of a system using output feedback illustrate the destabilizing effect of observation spillover. The simulations reveal that the system with passive damping is less susceptible to these effects than the untreated case. |
| File Size | 491843 |
| Page Count | 10 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19890017200 |
| Archival Resource Key | ark:/13960/t5n924r1x |
| Language | English |
| Publisher Date | 1987-07-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Controllers Flexible Bodies Control Systems Design Structural Vibration Manipulators Computerized Simulation Feedback Control Robotics Vibration Damping Mathematical Models Control Theory Robots Linear Quadratic Regulator Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
