Systematic design of instrumentation architecture for control of mechanical systems

Author

Stieber, Michael E. ; Petriu, Emil M. ; Vukovich, George

Author_Institution

Ottawa Univ., Ont., Canada

Volume

45

Issue

2

fYear

1996

fDate

4/1/1996 12:00:00 AM

Firstpage

406

Lastpage

412

Abstract

The selection and placement of sensors and actuators is an important step in the design of controlled systems such as robots and space structures with structural flexibility. Essentially all systematic methods proposed in the literature for this design step are only valid for linear systems. To overcome this limitation, this paper proposes a new approach based on hyperstability. The method is suitable for use with conventional as well as intelligent and nonlinear control systems. Its application is illustrated in a space robotics example

Keywords

closed loop systems; control system synthesis; flexible structures; intelligent actuators; intelligent control; intelligent sensors; linearisation techniques; nonlinear control systems; robust control; telerobotics; actuators; closed loop control; control algorithm; hyperstability; instrumentation architecture; intelligent sytems; linearisation; mechanical systems control; nonlinear control systems; placement; remote manipulator; robots; robust control; selection; sensors; space robotics; space structures; structural flexibility; systematic design; Actuators; Control systems; Instruments; Intelligent control; Intelligent robots; Linear systems; Nonlinear control systems; Orbital robotics; Robot sensing systems; Sensor systems;

fLanguage

English

Journal_Title

Instrumentation and Measurement, IEEE Transactions on

Publisher

ieee

ISSN

0018-9456

Type

jour

DOI

10.1109/19.492756

Filename

492756