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Shaped phase-plane control for flexible structures with friction

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2 Author(s)
La-orpacharapan, C. ; Dept. of Electr. & Comput. Eng., Colorado Univ., Boulder, CO, USA ; Pao, Lucy Y.

Describes the design of closed-loop control laws for undamped flexible structures with friction using a phase-plane approach. The time-optimal control law for a rigid body with friction is shaped using input shaping ideas to address the flexible mode, and then the altered rigid body phase-plane trajectories resulting from this shaping are solved for and used to determine a closed-loop controller. Simulation results show that the resulting controller leads to near time-optimal performance without unwanted residual vibrations.

Published in:

American Control Conference, 2002. Proceedings of the 2002  (Volume:3 )

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