This paper presents an optimized input-shaped model reference control (OIS-MRC) for limiting oscillation of multimode 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 are tested via numerical simulations and experiments. The OIS-MRC achieves a robust oscillation suppression performance, while reducing the rise time.
Skip Nav Destination
Article navigation
October 2018
Research-Article
Optimized Input-Shaped Model Reference Control on Double-Pendulum System
Daichi Fujioka,
Daichi Fujioka
The George W. Woodruff School
of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332-0405
e-mail: gtg369q@gatech.edu
of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332-0405
e-mail: gtg369q@gatech.edu
Search for other works by this author on:
William Singhose
William Singhose
The George W. Woodruff School
of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332-0405
e-mail: Singhose@gatech.edu
of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332-0405
e-mail: Singhose@gatech.edu
Search for other works by this author on:
Daichi Fujioka
The George W. Woodruff School
of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332-0405
e-mail: gtg369q@gatech.edu
of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332-0405
e-mail: gtg369q@gatech.edu
William Singhose
The George W. Woodruff School
of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332-0405
e-mail: Singhose@gatech.edu
of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332-0405
e-mail: Singhose@gatech.edu
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received July 9, 2017; final manuscript received March 16, 2018; published online May 2, 2018. Assoc. Editor: Davide Spinello.
J. Dyn. Sys., Meas., Control. Oct 2018, 140(10): 101004 (9 pages)
Published Online: May 2, 2018
Article history
Received:
July 9, 2017
Revised:
March 16, 2018
Citation
Fujioka, D., and Singhose, W. (May 2, 2018). "Optimized Input-Shaped Model Reference Control on Double-Pendulum System." ASME. J. Dyn. Sys., Meas., Control. October 2018; 140(10): 101004. https://doi.org/10.1115/1.4039786
Download citation file:
Get Email Alerts
Hybrid Kinematic-dynamic Sideslip and Friction Estimation
J. Dyn. Sys., Meas., Control
Koopman Model Predictive Control of an Integrated Thermal Management System for Electric Vehicles
J. Dyn. Sys., Meas., Control
Electromagnetic Model of Linear Resonant Actuators
J. Dyn. Sys., Meas., Control (May 2023)
Discrete Robust Control of Robot Manipulators Using an Uncertainty and Disturbance Estimator
J. Dyn. Sys., Meas., Control (May 2023)
Related Articles
Adaptive-Robust Stabilization of the Furuta's Pendulum Via Attractive Ellipsoid Method
J. Dyn. Sys., Meas., Control (February,2016)
Using Constrained Bilinear Quadratic Regulator for the Optimal Semi-Active Control Problem
J. Dyn. Sys., Meas., Control (November,2017)
Adjoint-Based Optimization Procedure for Active Vibration Control of Nonlinear Mechanical Systems
J. Dyn. Sys., Meas., Control (August,2017)
Stochastic Finite-Time Stabilization for a Class of Nonlinear Markovian Jump Stochastic Systems With Impulsive Effects
J. Dyn. Sys., Meas., Control (April,2015)
Related Proceedings Papers
Related Chapters
Dynamic Simulations to Become Expert in Order to Set Fuzzy Rules in Real Systems
International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011)
Design and Performance of PD and LQR Controller for Double Inverted Pendulum System
International Conference on Software Technology and Engineering (ICSTE 2012)
New H∞ Controllers Design for Networked Control System with Disturbance Based on Asynchronous Dynamical System
International Conference on Advanced Computer Theory and Engineering (ICACTE 2009)