Simultaneous piezoelectric actuator and sensor placement optimization and control design of manipulators with flexible links using SDRE method
Summary: This paper presents a control design for flexible manipulators using piezoelectric actuators bonded on nonprismatic links. The dynamic model of the manipulator is obtained in a closed form through the Lagrange equations. Each link is discretized using finite element modal formulation based on Euler-Bernoulli beam theory. The control uses the motor torques and piezoelectric actuators for controlling vibrations. An optimization problem with Genetic Algorithm (GA) is formulated for the location and size of the piezoelectric actuator and sensor on the links. The natural frequencies and mode shapes are computed by the finite element method, and the irregular beam geometry is approximated by piecewise prismatic elements. The State-Dependent Riccati Equation (SDRE) technique is used to derive a suboptimal controller for a robot control problem. A state-dependent equation is solved at each new point obtained for the variables from the problem, along the trajectory to obtain a nonlinear feedback controller. Numerical tests verify the efficiency of the proposed optimization and control design.
- Publication:4509308
- Vibration control of manipulators with flexible nonprismatic links using piezoelectric actuators and sensors
- Identification and Control of a Benchmark Flexible Structure using Piezoelectric Actuators and Sensors
- Complex mode dynamic analysis of flexible mechanism systems with piezoelectric sensors and actuators
- Hybrid optimization procedure applied to optimal location finding for piezoelectric actuators and sensors for active vibration control
- Integrated optimization of structure and control for piezoelectric intelligent trusses with uncertain placement of actuators and sensors
- Simultaneous Structural/Control Optimum Design of Composite Plate with Piezoelectric Actuators
- Optimal control of laminated plate integrated with piezoelectric sensor and actuator considering TSDT and meshfree method
- On the placement of actuators and sensors for flexible structures with closely spaced modes
- Simultaneous Piezoelectric Sensing/Actuation: Analysis And Application To Controlled Structures
- An efficient constraint handling method for genetic algorithms
- Compliant control of a two-link flexible manipulator featuring piezoelectric actuators
- Control designs for the nonlinear benchmark problem via the state-dependent Riccati equation method
- Experimental comparison research on active vibration control for flexible piezoelectric manipulator using fuzzy controller
- scientific article; zbMATH DE number 1016634 (Why is no real title available?)
- Nonlinear feedback controllers and compensators: a state-dependent Riccati equation approach
- Optimal actuator/sensor location for active noise regulator and tracking control problems
- Solid mechanics. A variational approach
- Vibration control of manipulators with flexible nonprismatic links using piezoelectric actuators and sensors
- Vibration control of manipulators with flexible nonprismatic links using piezoelectric actuators and sensors
- Active vibration control of an equipment mounting link for an exploration robot
- Simultaneous topology optimization of structure and piezoelectric actuators distribution
- Integrated topology optimization and optimal control for vibration suppression in structural design
- scientific article; zbMATH DE number 1517034 (Why is no real title available?)
- End-Point control of a flexible-link manipulator using state-dependent Riccati equation technique
- An isogeometric approach to dynamic structures for integrating topology optimization and optimal control at macro and micro scales
- Optimal control of eggplant pest populations in a predator-prey-parasitoid model with seasonal growth effects
This page was built for publication: Simultaneous piezoelectric actuator and sensor placement optimization and control design of manipulators with flexible links using SDRE method
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q624696)
