Control of flexible mechanical systems: wave-based techniques

The dynamics of flexible systems can be complex, imperfectly modelled and variable, which severely limits the usefulness of standard control strategies. Wave-based control easily and robustly copes with these challenges, by properly understanding, measuring and controlling the two-way energy and momentum flow through the actuator-system interface. The actuator then controls the remote load, close to optimally. The tutorial will briefly review traditional and recent approaches to this problem. It will then develop the wave-based idea, and illustrate its application to a range of flexible systems, including gantry cranes, lumped mass-spring systems, robots and space structures.