Co-Design Strategies for Optimal Variable Stiffness Actuation

Kamadan, Abdullah; Kızıltaş, Güllü; Patoğlu, Volkan

doi:10.1109/tmech.2017.2765085

Cited by 23 publications

(20 citation statements)

References 22 publications

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“…Around these two co-design strategies, much work has been done to improve the corresponding optimizing and solving performances. For example, [9] proposed a modified projected nested optimization (mPNO) approach to increase the range of applicability of nested co-design strategies and results indicated its computational efficiency and high applicability in system level optimization. [10] established a novel simultaneous co-design strategy extended from the direct transcription method and numerical results illustrated that the proposed simultaneous strategy can achieve better performances than conventional sequential strategy.…”

Section: A Theories and Methods Of The Co-designmentioning

confidence: 99%

Surrogate Based Co-Design for Combined Structure and Control Design Problems

et al. 2020

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Design optimization of structure and control combined systems are coupled problems. The conventional sequential design strategy (structure design sequentially followed by control design) usually neglects the coupling effects between structure and control and can only produce sub-optimal designs of the complex systems. Nevertheless, simultaneous design strategy with a reasonable and explicit optimization iteration management can ensure global optimization designs of the coupled system. In this study, a surrogate based co-design is explored to achieve the simultaneous optimization, which transforms continuous optimal control problems into discrete nonlinear programming problems. The discrete control parameters combining with the structure parameters can be simultaneously optimized and the co-design strategy can be achieved by introducing necessary and reasonable dynamic constraints. Here, the proposed surrogate based co-design is tested using a practical engineering case study, a heavy-load face-shovel excavator (FSE). The case study is built upon existing FSE design problems by incorporating detailed structure and control design variables while satisfying the system dynamic equations. The proposed surrogate based co-design is implemented and compared with the conventional sequential design strategy and an existing co-design strategy. Results indicate that the surrogate based co-design is accurate and efficient enough to achieve better performances than the conventional sequential design strategy by making FSE's structure more compact with relatively small vibrations.

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Section: A Theories and Methods Of The Co-designmentioning

confidence: 99%

Surrogate Based Co-Design for Combined Structure and Control Design Problems

et al. 2020

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“…By introducing the proposed method, the dynamic optimization (inner loop) is embedded into the static optimization (outer loop), which obtains the system-level optimality because both the plant design and the controller design are considered simultaneously. In addition, the separation achieved by the two loops makes each of them can be solved using accordingly befitting methods [30].…”

Section: Plant/controller Integrated Design Methodsmentioning

confidence: 99%

An Integrated Optimal Design for Guaranteed Cost Control of Motor Driving System With Uncertainty

Zeng

Ren

Zhang

et al. 2019

IEEE/ASME Trans. Mechatron.

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A plant/controller integrated design strategy based on the nested optimization strategy and guaranteed cost control for a motor driving system is developed. Because of the coupling between the plant design and the controller design, the conventional sequential design methods cannot guarantee an overall optimality for the controlled motor driving system. The integrated design strategy proposed in this paper aims to tackle this problem by simultaneously optimizing the controller design and plant design. The integrated design objective is to drive the largest load and guarantee the satisfactory robust control performance for reference tracking subject to parametric uncertainties. This is enabled by integrating a guaranteed cost controller into the integrated design strategy and improves the reliability of the control scheme. A novel combined performance index including the plant design objective and the control performance is developed as the integrated design cost function for the motor driving system. A nested optimization strategy is employed so that the optimality of the system can be calculated in an efficient and reliable way. Experimental results demonstrate the effectiveness of the proposed integrated design method. Index Terms-Integrated design of plant/controller, Guaranteed cost control, Motor driving system, Nested optimization method.

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“…The ultimate goal in these studies is to develop design frameworks that allow to reach system optimal designs from both the control and the mechanical design perspectives. Toward that goal, one such recent study is performed in (Kamadan 2016) where co-design strategies are proposed for robotic systems. Robotic systems designed using domain-specific conventional approaches result in underperforming systems, i.e., are not system-optimal.…”

Section: Robotics and Cyber-physical Systemsmentioning

confidence: 99%

Simulation-Based Engineering

Çakmakçı

Sendur

Durak

2017

Simulation Foundations, Methods and Applications

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Engineers, mathematicians, and scientists were always interested in numerical solutions of real-world problems. The ultimate objective within nearly all engineering projects is to reach a functional design without violating any of the performance, cost, time, and safety constraints while optimizing the design with respect to one of these metrics. A good mathematical model is at the heart of each powerful engineering simulation being a key component in the design process. In this chapter, we review role of simulation in the engineering process, the historical developments of different approaches, in particular simulation of machinery and continuum problems which refers basically to the numerical solution of a set of differential equations with different initial/boundary conditions. Then, an overview of well-known methods to conduct continuum based simulations within solid mechanics, fluid mechanics and electromagnetic is given. These methods include FEM, FDM, FVM, BEM, and meshless methods. Also, a summary of multi-scale and multi-physics-based approaches are given with various examples. With constantly increasing demands of the modern age challenging the engineering development process, the future of simulations in the field hold great promise possibly with the inclusion of topics from other emerging fields. As technology matures and the quest for multi-functional systems with much higher performance increases, the complexity of problems that demand numerical methods also increases. As a result, large-scale effective computing continues to evolve allowing for efficient and practical performance evaluation and novel designs, hence the enhancement of our thorough understanding of the physics within highly complex systems.

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Co-Design Strategies for Optimal Variable Stiffness Actuation

Cited by 23 publications

References 22 publications

Surrogate Based Co-Design for Combined Structure and Control Design Problems

Surrogate Based Co-Design for Combined Structure and Control Design Problems

An Integrated Optimal Design for Guaranteed Cost Control of Motor Driving System With Uncertainty

Simulation-Based Engineering

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