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.
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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
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