Maneuver control and active vibration suppression of a two-link flexible arm using a hybrid variable structure/Lyapunov control design

Mirzaee, E.; Eghtesad, Mohammad; Fazelzadeh, S. Ahmad

doi:10.1016/j.actaastro.2010.06.054

Cited by 43 publications

(24 citation statements)

References 24 publications

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“…Comparing the magnitude of the components of K p elastelecta matrix with 1/k m , it can be concluded that O(K p elastelecta ) = O(ε); therefore, K p elastelecta matrix can be written as [29]:…”

Section: Decomposition Of the Equations Of Motion By The Singular Permentioning

confidence: 99%

Dynamics and control of a smart flexible satellite moving in an orbit

et al. 2015

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In this paper, the three axes maneuver control and vibration suppression of a smart flexible satellite moving in a circular orbit are studied. First, by using Lagrange-RayleighRitz technique and assumed mode method, the governing equations of a flexible satellite with PZT (lead zirconate titanate) piezoelectric patches are obtained. The flexibility of the appendages and the assumption of a large angle trajectory cause the governing equations to be nonlinear and coupled. The piezoelectric layers, attached to both sides of the appendages, are considered as sensors and actuators. A thorough look at the resulting equations reveals that the flexible satellite dynamics that include the appendage vibrations and rigid maneuver occur in two different time scales. By using the singular perturbation theory, the system dynamics is divided into two fast and slow subsystems. The slow and fast subsystems are associated with rigid motion dynamics and flexible appendages dynamics, respectively. A hybrid controller, which is proposed for use, consists of a variable structure controller (VSC) for maneuvering control of the slow subsystem, and a Lyapunov based controller for vibration suppression of the fast subsystem. The stability of the controllers is studied using the Lyapunov stability theory. Finally, the system behavior is simulated and the simulation results show the efficient performance of the proposed hybrid controller.

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Section: Decomposition Of the Equations Of Motion By The Singular Permentioning

confidence: 99%

Dynamics and control of a smart flexible satellite moving in an orbit

et al. 2015

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“…Note that the slow variables remain constant in the fast time scale 18 or due to the time scale introduced, the slow variables act as parameters. Also, by considering ε 2 = 0 in Eqs.…”

Section: Mathematical Modelingmentioning

confidence: 99%

Modeling and Vibration Suppression of Flexible Spacecraft Using Higher-Order Sandwich Panel Theory

Azimi¹,

Shahravi²,

Fard³

2017

IJAV

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This paper presents a novel approach for the modeling and vibration suppression of a flexible spacecraft during a large angle attitude maneuver. A Higher-Order theory is used to model the elastic behavior of solar panel appendages with surface bounded piezoelectric (PZT) patches that capture the transverse shear deformation effects through the thickness of the smart sandwich panel. With the implementation of an appropriate time scales transformation technique and using Singular Perturbation Theory (SPT), the spacecraft dynamic behavior has been divided into double slow and fast subsystems. Modified Sliding Mode (MSM) and Strain Rate Feedback (SRF) control theory have been used for attitude and vibration control simultaneously by global stability proof of the overall system, while the controllers accomplished their missions in coupled rigid/flexible dynamic domain without parasitic parameter interactions. Numerical simulation assesses the benefits of the proposed approach.

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“…Several investigations have been conducted to study vibration control for single link manipulators and cantilever links [1,5,6,9,14,15,16,17,22]. Few papers extend this work to investigate the performance of these control schemes for manipulators with two or more linkages [13]. Some investigations that apply active vibration control for multi-link manipulators include those carried out by Lee and Lee [11], Mirzaee et al [13] and Li et al [12].…”

Section: Introductionmentioning

confidence: 99%

“…Few papers extend this work to investigate the performance of these control schemes for manipulators with two or more linkages [13]. Some investigations that apply active vibration control for multi-link manipulators include those carried out by Lee and Lee [11], Mirzaee et al [13] and Li et al [12].…”

Section: Introductionmentioning

confidence: 99%

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Model Predictive Control of Vibration in a Two Flexible Link Manipulator — Part I

Elliott

Dubay

Mohany

et al. 2014

Journal of Low Frequency Noise, Vibration and Active Control

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A model predictive controller (MPC) in the form of dynamic matrix control (DMC) is implemented for attenuating in-plane vibrations of a two flexible link planar manipulator. The rotation of the joints and inertia effect of both the joints and links induce vibration. Piezoelectric actuators, mounted in a bimorph configuration, provide the control actions to reduce vibrations. Implementation of this control scheme is shown to provide appreciable attenuation of vibration over the uncontrolled case, increasing the damping ratio for the first and second link by a factor of 5.99 and 3.40, respectively. DMC control is further shown to reduce the mean amplitude of dominant vibrations from the uncontrolled case by 90.0% and 87.4%, respectively, for the first and second links. Furthermore, for the two link setup, this control is shown to outperform the more conventional ProportionalIntegral-Derivative (PID) control and is sufficiently robust to handle an unknown payload.

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Maneuver control and active vibration suppression of a two-link flexible arm using a hybrid variable structure/Lyapunov control design

Cited by 43 publications

References 24 publications

Dynamics and control of a smart flexible satellite moving in an orbit

Dynamics and control of a smart flexible satellite moving in an orbit

Modeling and Vibration Suppression of Flexible Spacecraft Using Higher-Order Sandwich Panel Theory

Model Predictive Control of Vibration in a Two Flexible Link Manipulator — Part I

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