Comparison of Input Shaping andTime - Optimal Control of Flexible Stru turesMark
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منابع مشابه
COMPARISON BETWEEN MINIMUM AND NEAR MINIMUM TIME OPTIMAL CONTROL OF A FLEXIBLE SLEWING SPACECRAFT
In this paper, a minimum and near-minimum time optimal control laws are developed and compared for a rigid space platform with flexible links during an orientating maneuver with large angle of rotation. The control commands are considered as typical bang-bang with multiple symmetrical switches, the time optimal control solution for the rigid-body mode is obtained as a bang-bang function and app...
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This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop c...
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Input shaping is a method of reducing residual vibrations in computer-controlled machines. Shaped command profiles are generated by convolving a sequence of impulses, an input shaper, with the desired command signal. The shaped command profile will move the system without residual vibration. The performance of several types of input shapers is compared to the time-optimal flexible-body control ...
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To achieve the highest level performance with computer controlled machines, the flexibility of the system must be taken into account. Feedforward methods are often the most desirable means of eliminating vibration. The fastest motions can be obtained by using the timeoptimal flexible-body command. These commands depend on the system parameters, actuator limits, and the desired motion. Input sha...
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In this paper, slewing maneuver of a flexible spacecraft with large angle of rotation is considered and assuming structural frequency uncertainties a robust minimum-time optimal control law is developed. Considering typical bang-bang control commands with multiple symmetrical switches, a parameter optimization procedure is introduced to find the control forces/torques. The constrained minimizat...
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