TY - GEN
T1 - Flatness-based control of flexible motion systems
AU - Post, Brian K.
AU - Mariuzza, Alexandre
AU - Book, Wayne J.
AU - Singhose, William
PY - 2011
Y1 - 2011
N2 - Flexibility is often an unavoidable limitation when large-workspace high-speed manipulation is required. This flexibility can be mitigated in some circumstances through feedback control methods. However, these methods only correct for vibration after it has been measured. Therefore, if low-vibration reference commands can be generated, then the utility of these systems can be greatly improved. However, there are instances where system nonlinearities limit the effectiveness of many command-shaping techniques. This paper proposes a method for the generation of fast vibration-limiting trajectories for flexible systems based on the differential-flatness property of nonlinear systems. This approach is applied to a tower crane for simulation and experimental validation. The results are compared to those from standard command-shaping techniques. Practical implementation issues for real world systems are discussed.
AB - Flexibility is often an unavoidable limitation when large-workspace high-speed manipulation is required. This flexibility can be mitigated in some circumstances through feedback control methods. However, these methods only correct for vibration after it has been measured. Therefore, if low-vibration reference commands can be generated, then the utility of these systems can be greatly improved. However, there are instances where system nonlinearities limit the effectiveness of many command-shaping techniques. This paper proposes a method for the generation of fast vibration-limiting trajectories for flexible systems based on the differential-flatness property of nonlinear systems. This approach is applied to a tower crane for simulation and experimental validation. The results are compared to those from standard command-shaping techniques. Practical implementation issues for real world systems are discussed.
UR - http://www.scopus.com/inward/record.url?scp=84881444212&partnerID=8YFLogxK
U2 - 10.1115/DSCC2011-6099
DO - 10.1115/DSCC2011-6099
M3 - Conference contribution
AN - SCOPUS:84881444212
SN - 9780791854754
T3 - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
SP - 843
EP - 850
BT - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
T2 - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Y2 - 31 October 2011 through 2 November 2011
ER -