Modeling and control of a flexible structure incorporating inertial slip-stick actuators


Darby, A. P. and Pellegrino, S., 1999. Modeling and control of a flexible structure incorporating inertial slip-stick actuators. Journal of Guidance, Control, and Dynamics, 22 (1), pp. 36-42.

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Shape and vibration control of a linear flexible structure by means of a new type of inertial slip-stick actuator are investigated. A nonlinear model representing the interaction between the structure and a six-degree-of-freedom Stewart platform system containing six actuators is derived, and closed-loop stability and performance of the controlled systems are investigated. A linearized model is also derived for design purposes. Quasistatic alignment of a payload attached to the platform is solved simply by using a proportional controller based on a linear kinematic model. The stability of this controller is examined using a dynamic model of the complete system and is validated experimentally by introducing random thermal elongations of several structural members. Vibration control is solved using an Hinfinity loop-shaping controller and, although its performance is found to be less satisfactory than desired, the nonlinear model gives good predictions of the performance and stability of the closed-loop system


Item Type Articles
CreatorsDarby, A. P.and Pellegrino, S.
DepartmentsFaculty of Engineering & Design > Architecture & Civil Engineering
ID Code12482


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