Title :
Experimental evaluation of evolutionary predictive input shaping applied to a flexible structure
Author :
Fravolini, Mario Luca ; Ficola, Antonio ; La Cava, Michele
Author_Institution :
Dept. of Electron. & Inf. Eng., Perugia Univ., Italy
Abstract :
This work reports the results of an experimental study, which has been carried out to evaluate the applicability of nonlinear model predictive control for the reduction of vibrations in flexible structures. Reference was made to a clamped flexible beam on the tip of which a controlled pendulum is attached. The control strategy consists of two stages: in the first one a PD controller is employed to ensure the accurate tracking of the pendulum position with respect to a reference shaped signal; in the second one the shaped trajectory is generated by a model based predictive controller. For the online nonlinear constrained optimization a new evolutionary algorithm is proposed. The results of some experiments are reported, comparing the performance of a pure feedforward scheme with others that employ either a continuous or an intermittent output feedback strategy
Keywords :
evolutionary computation; flexible structures; nonlinear control systems; nonlinear programming; pendulums; predictive control; tracking; two-term control; vibration control; PD controller; clamped flexible beam; evolutionary algorithm; evolutionary predictive input shaping; feedforward; flexible structure; model based predictive controller; nonlinear model predictive control; online nonlinear constrained optimization; output feedback; pendulum position; reference shaped signal; vibration reduction; Constraint optimization; Evolutionary computation; Flexible structures; PD control; Predictive control; Predictive models; Shape control; Signal generators; Trajectory; Vibration control;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936755
