Enhancing Controllability and Observability in Underactuated and Undersensed Systems Through Switching: Application to Vibration Control

[+] Author and Article Information
Shahin S. Nudehi, Ranjan Mukherjee

Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824-1226

J. Dyn. Sys., Meas., Control 126(4), 790-799 (Mar 11, 2005) (10 pages) doi:10.1115/1.1850532 History: Received September 18, 2003; Revised June 08, 2004; Online March 11, 2005
Copyright © 2004 by ASME
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Mide Technology Corporation, Medford, MA, http://www.mide.com
PCB Piezotronics, Inc., Depew, NY, http://www.pcb.com


Grahic Jump Location
Plot of state variables in Example 1 for (a) xf ≜ (0 0)T and (b) xf ≜ (−1 −2)T
Grahic Jump Location
A simply supported flexible beam with two piezoelectric elements
Grahic Jump Location
Third and fourth mode shapes of beam in Fig. 2 and location of PZT elements in relation to these mode shapes
Grahic Jump Location
Amplitude of vibration of the (a) first, (b) second, (c) third, and (d) fourth modes of the beam with observer-based control design
Grahic Jump Location
Amplitude of vibration of the (a) first, (b) second, (c) third, and (d) fourth modes of the beam with suboptimal switching
Grahic Jump Location
Schematic of switching between actuator and sensor modalities
Grahic Jump Location
Experimental results: Plot of ypzt with time for (a) uncontrolled system, and controlled system with (b) fixed switching schedule, (c) variable switching schedule, and (d) suboptimal switching schedule
Grahic Jump Location
(a) An observer-based controller (b) a discontinuous, and (c) a continuous controller obtained from using a fixed-time and variable-time switching schedule



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