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

A P Darby, S Pellegrino

Research output: Contribution to journalArticle

7 Citations (Scopus)

Abstract

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 H<sub> infinity </sub> 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
Original languageEnglish
Pages (from-to)36-42
Number of pages7
JournalJournal of Guidance, Control, and Dynamics
Volume22
Issue number1
Publication statusPublished - 1999

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