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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stick-slip
Stick-slip
Flexible Structure
Flexible structures
Actuator
Vibration Control
slip
Actuators
actuators
Controller
controllers
Nonlinear Model
Vibration control
Modeling
Stewart Platform
Controllers
modeling
Shape Control
Kinematic Model
platforms

Cite this

Modeling and control of a flexible structure incorporating inertial slip-stick actuators. / Darby, A P; Pellegrino, S.

In: Journal of Guidance, Control, and Dynamics, Vol. 22, No. 1, 1999, p. 36-42.

Research output: Contribution to journalArticle

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