By Topic

Shaping structure dynamics with truncation-error bounded reduced-order models for integrated mechanism/control design

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
S. V. Savant ; d'Arbeloff Lab. for Inf. & Technol., MIT, Cambridge, MA, USA ; H. H. Asada

A method for shaping the structure dynamics of mechatronic systems using truncation-error bounded reduced-order models is developed and applied to a heavy-duty robot with noncollocated sensors and actuators. Modeling is a critical issue in the integrated approach to design and control. The model required for mechanical design is different from that for control design. The former is geometric and parametric with respect to the dimensions of the parts. Dynamic models derived from such geometric models are in general of high order. The model for control design must be an explicit I/O causal form with an appropriate system order. As the mechanical structure is altered during integrated design, dynamic model validity is difficult to preserve due to the strong influence of design parameter changes on model truncation error. Even the model order may change. A method is presented for improving structural performance while maintaining validity of reduced-order models by upper-bounding truncation error. This uses Hankel singular values and sensitivity Jacobians. Changes to dynamics are obtained by altering design parameters within the subspace where the Hankel singular values corresponding to unmodeled dynamics may be kept lower than a certain limit, preserving the validity of the reduced-order model. The method is then applied to the design of a heavy-duty robot with noncollocated sensors and actuators. With this method, since the truncation-error of the structural model is upper-bounded, a controller can be designed so as to guarantee robustness

Published in:

American Control Conference, 1998. Proceedings of the 1998  (Volume:6 )

Date of Conference:

21-26 Jun 1998