Controller design for flexible structure vibration suppression with robustness to contacts

Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances

“…To this aim, in the first step we study the influence of the initial conditions on the system's long term behaviour with perfect revolute joints. Let • ∞ be defined as 3 X ∞ = max t∈ [1,10] |X(t)|. The percentage relative error in the angular position θ 1 (0) is given as:…”

“…This is called backlash compensation in the Systems and Control literature [49,37]. Two major classes of models are used: dead-zone and hysteresis models, also called static backlash [66,67,10,75], which are suitable for feedback control design but completely neglect the contact/impact dynamics, and dynamic backlash with compliant spring/dashpot models [48,38]. Few studies use dynamic backlash with nonsmooth, setvalued models [32,42].…”

“…Crank-rocker: influence of control gains on the maximum tracking error on[1,10]s and control torque (c 2 =c 3 =5.0mm).…”

Laboratory Demonstration Hardware for AVC

“…This is due to the small turbulence of air within the laboratory, temperature gradients and even the ongoing traffic on the street adjacent to the building. 20 Measurements that are more precise could be carried out in a sound isolated environment.…”

“…The xPC Target software prototyping system is a popular choice for the real-time implementation and verification of controllers for AVC both in academic studies and for industrial practitioners [20,28,59,81]. Amongst a few others, dSPACE is also a well-known hardware platform for real-time controller implementation for active vibration control [11,21,24,66].…”