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dc.contributor.authorAlberts, Thomas Edwarden_US
dc.contributor.authorHastings, Gordon Greeneen_US
dc.contributor.authorBook, Wayne Johnen_US
dc.contributor.authorDickerson, Stephen L.en_US
dc.date.accessioned2011-06-27T18:18:24Z
dc.date.available2011-06-27T18:18:24Z
dc.date.issued1985-06
dc.identifier.citationAlberts, Thomas, Gordon Hastings, Wayne Book, and Steve Dickerson, "Experiments in Optimal Control of a Flexible Arm with Passive Damping," Fifth VPI & SU/AIAA Symposium on Dynamics & Control of Large Structures, Blacksburg, VA, June 12, 1985.en_US
dc.identifier.urihttp://hdl.handle.net/1853/39347
dc.descriptionPresented at the Fifth VPI &SU / AIAA Symposium on Dynamics and Control of Large Structures, Blacksburg, VA, June 12, 1985.en_US
dc.description.abstractThis paper presents a hybrid active and passive control scheme for control ling the motion of a lightweight flexible arm. A straightforward development of LaGrange's equations using a series expansion of assumed flexible modes provides a time domain model for controller design. The active controller design was approached as a steady state linear quadratic continuous regulator. A constrained viscoelastic layer treatment was employed to achieve passive damping. The passive damping treatment serves to enhance the system's stability while providing sound justification for the use of a highly truncated dynamic model and reduced order controller. Initial experimental results comparing controller performance with and without passive damping demonstrate the merit of the proposed combined active/passive approach.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectHybrid active and passive controlen_US
dc.subjectLightweight flexible armsen_US
dc.subjectActive controller designen_US
dc.subjectPassive dampingen_US
dc.subjectLagrange's equationsen_US
dc.titleExperiments in Optimal Control of a Flexible Arm with Passive Dampingen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Mechanical Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US


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