Research Papers

Time-Optimal Control of Flexible Robots Made Robust Through Wave-Based Feedback

[+] Author and Article Information
William J. O’Connor

School of Electrical, Electronic and Mechanical Engineering, University College Dublin, Belfield, Dublin 4, Irelandwilliam.oconnor@ucd.ie

David J. McKeown

School of Electrical, Electronic and Mechanical Engineering, University College Dublin, Belfield, Dublin 4, Irelanddavid.mckeown@ucd.ie

J. Dyn. Sys., Meas., Control 133(1), 011006 (Nov 29, 2010) (6 pages) doi:10.1115/1.4002714 History: Received September 08, 2009; Revised April 08, 2010; Published November 29, 2010; Online November 29, 2010

This paper presents a new, robust, time-optimal control strategy for flexible manipulators controlled by acceleration-limited actuators. The strategy is designed by combining the well-known, open-loop, time-optimal solution with wave-based feedback control. The time-optimal solution is used to design a new launch wave input to the wave-based controller, allowing it to recreate the time-optimal solution when the system model is exactly known. If modeling errors are present or a real actuator is used, the residual vibrations, which would otherwise arise when using the time-optimal solution alone, are quickly suppressed due to the additional robustness provided by the wave-based controller. A proximal time-optimal response is still achieved. A robustness analysis shows that significant improvements can be achieved using wave-based control in conjunction with the time-optimal solution. The implications and limits are also discussed.

Copyright © 2011 by American Society of Mechanical Engineers
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Figure 1

Acceleration and position profiles of time optimal input

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Figure 2

An actuator-controlled flexible system with n-degrees of freedom

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Figure 3

Infinite system allowing one-way propagation of waves

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Figure 4

Wave-based control scheme

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Figure 5

Wave components for a time-optimal response

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Figure 6

Open-loop time-optimal and WBC time optimal when there is a 20% error in the modeled spring stiffness

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Figure 7

Percentage overshoot of a single mass spring system using open-loop time-optimal and time-optimal with WBC (TOWBC) for different system modeling errors. In TOWBC, there is no overshoot for ω/ωmodeled<1.



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