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Passive dynamic controllers for nonlinear mechanical systemsA methodology for model-independant controller design for controlling large angular motion of multi-body dynamic systems is outlined. The controlled system may consist of rigid and flexible components that undergo large rigid body motion and small elastic deformations. Control forces/torques are applied to drive the system and at the same time suppress the vibration due to flexibility of the components. The proposed controller consists of passive second-order systems which may be designed with little knowledge of the system parameter, even if the controlled system is nonlinear. Under rather general assumptions, the passive design assures that the closed loop system has guaranteed stability properties. Unlike positive real controller design, stabilization can be accomplished without direct velocity feedback. In addition, the second-order passive design allows dynamic feedback controllers with considerable freedom to tune for desired system response, and to avoid actuator saturation. After developing the basic mathematical formulation of the design methodology, simulation results are presented to illustrate the proposed approach to a flexible six-degree-of-freedom manipulator.
Document ID
19910012260
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Juang, Jer-Nan (NASA Langley Research Center Hampton, VA., United States)
Wu, Shih-Chin (NASA Langley Research Center Hampton, VA., United States)
Phan, Minh (NASA Langley Research Center Hampton, VA., United States)
Longman, Richard W. (Columbia Univ. New York, NY., United States)
Date Acquired
September 6, 2013
Publication Date
March 1, 1991
Subject Category
Structural Mechanics
Report/Patent Number
NASA-TM-104047
NAS 1.15:104047
Meeting Information
Meeting: Structures, Structural Dynamics and Materials Conference
Location: Baltimore, MD
Country: United States
Start Date: April 8, 1991
End Date: April 10, 1991
Accession Number
91N21573
Funding Number(s)
PROJECT: RTOP 590-14-21-01
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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