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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:
AuthorsInstitution or Email of Authors
Reiner, MatthiasUNSPECIFIED
Heckmann, AndreasUNSPECIFIED
Otter, MartinUNSPECIFIED
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 (old)
HGF - Program:Space (old)
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:12 Dec 2013 20:32

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