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research-article

Optimized Input-Shaped Model Reference Control on Double-Pendulum System

[+] Author and Article Information
Daichi Fujioka

The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia 30332-0405
gtg369q@gatech.edu

William Singhose

The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia 30332-0405
Singhose@gatech.edu

1Corresponding author.

ASME doi:10.1115/1.4039786 History: Received July 09, 2017; Revised March 16, 2018

Abstract

This paper presents an optimized input-shaped model reference control (OIS-MRC) for limiting oscillation of multi-mode flexible systems. The controller is analyzed by using it to control an uncertain, time-varying double-pendulum using a linear single-pendulum reference model. Single- and double-pendulum dynamics are presented, and the significant natural frequency ranges of the double-pendulum are calculated. A Lyapunov control law using only the first mode states of the plant is obtained. An optimization technique is used to obtain the OIS-MRC controller parameters that realizes the shortest time duration, while meeting a set of design constraints. The oscillation suppression, control effort reduction, and disturbance rejection performances of the proposed OIS-MRC controller is tested via numerical simulations and experiments. The OIS-MRC achieves a robust oscillation suppression performance, while reducing the rise time.

Copyright (c) 2018 by ASME
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