Title :
Energy evaluation for modelling and control of flexible structures
Author :
Abou-Kandil, Hisham ; de Pieri, E.
Author_Institution :
Lab. de Robotique de Paris, Univ. Pierre et Marie Curie, France
Abstract :
A method for flexible structures modelling and control is presented. By computing the energy contribution of each vibration mode in the total response of the system, a reduced order model is obtained by eliminating the low energy modes. The approximation degree can be easily determined knowing the energy contribution of neglected modes. The actuators and sensors may be optimally placed by examining the energy profile on the structure. A control law can then be designed to damp the most important modes. A method to control the norm of the gain matrix is presented. Two examples are given to illustrate the proposed approach
Keywords :
control system synthesis; damping; distributed parameter systems; large-scale systems; actuators; approximation degree; control law; energy contribution; energy profile; flexible structures; gain matrix; low energy modes; modelling; reduced order model; sensors; total response; vibration mode; Actuators; Control design; Equations; Flexible structures; Optimal control; Reduced order systems; Robots; Satellites; Space vehicles; Vibrations;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262515
