NDLI: Passive dynamic controllers for nonlinear mechanical systems

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Passive dynamic controllers for nonlinear mechanical systems

Content Provider	NASA Technical Reports Server (NTRS)
Author	Longman, Richard W. Phan, Minh Juang, Jer-Nan Wu, Shih-Chin
Copyright Year	1991
Description	A methodology for model-independant controller design for controlling large angular motion of multi-body dynamic systems is outlined. The controlled system may consist of rigid and flexible components that undergo large rigid body motion and small elastic deformations. Control forces/torques are applied to drive the system and at the same time suppress the vibration due to flexibility of the components. The proposed controller consists of passive second-order systems which may be designed with little knowledge of the system parameter, even if the controlled system is nonlinear. Under rather general assumptions, the passive design assures that the closed loop system has guaranteed stability properties. Unlike positive real controller design, stabilization can be accomplished without direct velocity feedback. In addition, the second-order passive design allows dynamic feedback controllers with considerable freedom to tune for desired system response, and to avoid actuator saturation. After developing the basic mathematical formulation of the design methodology, simulation results are presented to illustrate the proposed approach to a flexible six-degree-of-freedom manipulator.
File Size	944838
Page Count	18
File Format	PDF
Alternate Webpage(s)	http://archive.org/details/NASA_NTRS_Archive_19910012260
Archival Resource Key	ark:/13960/t39071m5z
Language	English
Publisher Date	1991-03-01
Access Restriction	Open
Subject Keyword	Structural Mechanics Dynamic Response Dynamic Structural Analysis Controllers Flexible Bodies Rigid Structures Actuators Control Systems Design Structural Vibration Mechanical Devices Computerized Simulation Feedback Control Elastic Deformation Vibration Damping Angular Velocity Nonlinear Systems Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science
Content Type	Text
Resource Type	Article

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