Inversion based control of flexible body systems

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.