Collocation of actuation and sensing in flexible structures leads to the desirable input-output property of passivity which greatly simplifies the stabilization problem. However, many control problems of interest such as robotic manipulation are noncollocated in nature. This paper examines the possibility of combining collocated and noncollocated outputs so as to achieve passivity. An appropriate combination is shown to depend on the interplay between collocated and noncollocated mass properties. Tracking problems are also studied and a controller with adaptive feedforward elements is introduced. An experimental study using a simple flexible apparatus with one rigid degree of freedom and two vibration modes is used to validate the analysis. [S0022-0434(00)01701-9]
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March 2000
Technical Papers
Passivity and Noncollocation in the Control of Flexible Multibody Systems
Christopher J. Damaren, Associate Professor,
Christopher J. Damaren, Associate Professor,
Institute for Aerospace Studies, University of Toronto, 4925 Dufferin Street, Toronto, Ontario, M3H 5T6 Canada
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Christopher J. Damaren, Associate Professor,
Institute for Aerospace Studies, University of Toronto, 4925 Dufferin Street, Toronto, Ontario, M3H 5T6 Canada
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division September 22, 1999. Associate Technical Editor: N. Olgac.
J. Dyn. Sys., Meas., Control. Mar 2000, 122(1): 11-17 (7 pages)
Published Online: September 22, 1999
Article history
Received:
September 22, 1999
Citation
Damaren, C. J. (September 22, 1999). "Passivity and Noncollocation in the Control of Flexible Multibody Systems ." ASME. J. Dyn. Sys., Meas., Control. March 2000; 122(1): 11–17. https://doi.org/10.1115/1.482423
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