Passivity and Noncollocation in the Control of Flexible Multibody Systems

[+] Author and Article Information
Christopher J. Damaren

Institute for Aerospace Studies, University of Toronto, 4925 Dufferin Street, Toronto, Ontario, M3H 5T6 Canadae-mail: cjd@sdr.utias.utoronto.ca

J. Dyn. Sys., Meas., Control 122(1), 11-17 (Sep 22, 1999) (7 pages) doi:10.1115/1.482423 History: Received September 22, 1999
Copyright © 2000 by ASME
Your Session has timed out. Please sign back in to continue.


Newcomb, R. W., 1966, Linear Multiport Synthesis, McGraw-Hill, New York.
Desoer, C. A., and Vidyasagar, M., 1975, Feedback Systems: Input-Output Properties, Academic Press, New York.
Gevarter,  W. B., 1970, “Basic Relations for Control of Flexible Vehicles,” AIAA J., 8, pp. 666–672.
Hughes,  D., and Wen,  J. T., 1996, “Passivity Motivated Controller Design for Flexible Structures,” AIAA J. Guid. Control Dynam., 19, pp. 726–729.
Lee, F. C., Flashner, H., and Safonov, M. G., 1995, “Positivity-Based Control System Synthesis Using Alternating LMIs,” Proceedings of American Control Conference, Seattle, WA, American Automatic Control Council, Evanston, IL, pp. 1469–1473.
Benhabib,  R. J., Iwens,  R. P., and Jackson,  R. L., 1981, “Stability of Large Space Structure Control Systems Using Positivity Concepts,” AIAA J. Guid. Control, 4, pp. 487–494.
McLaren,  M. D., and Slater,  G. L., 1987, “Robust Multivariable Control of Large Space Structures Using Positivity,” AIAA J. Guid. Control Dynam., 10, pp. 393–400.
Lozano-Leal, R. and Joshi, S. M., 1988, “On the Design of Dissipative LQG-Type Controllers,” Proc. 27th IEEE Decision and Control Conference, Dec., 2 , pp. 1645–1646.
Haddad,  W. M., Bernstein,  D. S., and Wang,  Y. W., 1994, “Dissipative H2/H Controller Synthesis,” IEEE Trans. Autom. Control., 39, pp. 827–831.
Damaren,  C. J., 1996, “Gain Scheduled SPR Controllers for Nonlinear Flexible Systems,” ASME J. Dyn. Syst., Meas., Control, 118, pp. 698–703.
Takegaki,  M. and Arimoto,  S., 1981, “A New Feedback Method for Dynamic Control of Manipulators,” ASME J. Dyn. Syst., Meas., Control, 103, pp. 119–125.
Ortega,  R. and Spong,  M. W., 1989, “Adaptive Motion Control of Rigid Robots: A Tutorial,” Automatica, 25, pp. 877–888.
Damaren,  C. J., 1995, “Passivity Analysis for Flexible Multilink Space Manipulators,” AIAA J. Guid. Control Dynam., 18, pp. 272–279.
Damaren,  C. J., 1998, “Modal Properties and Control System Design for Two-Link Flexible Manipulators,” Int. J. Robot. Res., 17, pp. 667–678.


Grahic Jump Location
Equivalent feedback loops
Grahic Jump Location
Torsional control system apparatus (reprinted courtesy of Educational Control Products)
Grahic Jump Location
Tracking errors (μ=0.973,μ=0.96)
Grahic Jump Location
Parameter estimates (μ=0.973,μ=0.96)
Grahic Jump Location
Tracking errors and parameter estimates (μ=0.567,μ=0.55)
Grahic Jump Location
Experimental and theoretical stability regions



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In