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Inversion based control of flexible body systems
Reiner, Matthias and Heckmann, Andreas and Otter, Martin (2008) Inversion based control of flexible body systems. In: Proceedings of the 9th Conference on Motion and Vibration Control. MOVIC2008, 2008-09-15 - 2008-09-18, München.
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Abstract
In this article we demonstrate tip tracking control of flexible bodies with a minimum of (collocated) sensors at the drives only. To achieve this we invert the nonlinear elastic model, which is based on the Modelica Flexible Bodies Library (MFBL). The MFBL allows to model small elastic deformations in combination with large nonlinear motion. Because of the possibility of unstable zero dynamics of the system, approximations are necessary to achieve a stable inverse model. We conclude with a simulation example for the described method.
| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Title: | Inversion based control of flexible body systems | ||||||||
| Authors: |
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| Date: | 2008 | ||||||||
| Journal or Publication Title: | Proceedings of the 9th Conference on Motion and Vibration Control | ||||||||
| Refereed publication: | Yes | ||||||||
| In ISI Web of Science: | No | ||||||||
| Status: | Published | ||||||||
| Keywords: | modelica, flexible bodies, Modelica Flexible Bodies Library, MFBL | ||||||||
| Event Title: | MOVIC2008 | ||||||||
| Event Location: | München | ||||||||
| Event Type: | international Conference | ||||||||
| Event Dates: | 2008-09-15 - 2008-09-18 | ||||||||
| Organizer: | Technische Universität München | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Space | ||||||||
| HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research area: | Space | ||||||||
| DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research theme (Project): | W - Vorhaben On-Orbit Servicing (old) | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics > System Dynamics and Control (former Control Design Engineering) | ||||||||
| Deposited By: | Monika Klauer | ||||||||
| Deposited On: | 26 Sep 2008 | ||||||||
| Last Modified: | 14 Jan 2010 23:52 |
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