Summary

In this research, we design a modal controller for conservative flexible systems that uses distributed sensing. A spatial filter design based on the eigenfunctions coupled with a velocity observer prevents spillover instabilities in the closed-loop system. The proposed control is proven to stabilize a discrete set of controlled modes without destabilizing the remaining, residual modes. We then apply the theory to a single flexible link robot arm and experimentally demonstrate the feasibility of the proposed control strategy. The experiments use high speed video feedback with image processing to determine the spatial beam curve. The controller quickly damps the first modal response without causing instability in the remaining modes.

Collaborators
 
Darren Dawson, Clemson University

Publications

Nagarkatti, S., Rahn, C., Dawson, D., Zergeroglu, E., Malatpure, A., “Modal Control of Flexible Systems Using Distributed Sensing,” IMECE 2000, Orlando, FL, September 2000, AD-Vol. 61 pp. 101-108.

Experimental Response

For further information:  cdrahn@psu.edu. 

Copyright © 2001 Mechatronics Research Laboratory