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10 July 1992 Experiments in control of flexible beam with modified outputs
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This paper presents new experimental results which pertain to the control of flexible link manipulators. Flexible link manipulators have the peculiar characteristic of possessing an infinite number of degrees-of-freedom, but (usually) only one actuator per link. This is one of the main distinctions, along with the presence of significant kinematically induced nonlinearities, between flexible manipulator control and control of other flexible bodies such as large spacecraft. For such systems, one safe and reliable strategy is to maximize the modal damping. To increase the system modal damping one can use feedback control and in particular this paper reports results of feedback control experiments which use modified outputs as the feedback signal. These outputs are noncollocated but have the jw axis pole-zero interlacing property possessed by systems under collocated control. The modified outputs offer the potential of giving increased damping in a feedback configuration without introducing the dangerous non-minimum-phase zeros normally associated with non-collocated control. Experimental results are presented which show that it is practical to use these modified outputs.
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Thomas E. Alberts and Hemanshu R. Pota "Experiments in control of flexible beam with modified outputs", Proc. SPIE 1696, Controls for Optical Systems, (10 July 1992);

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