Dynamic inversion of boundary control systems with applications to a flexible beam

Author

Sadegh, Nader

Author_Institution

George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA

fYear

2006

fDate

14-16 June 2006

Abstract

In this paper we consider a general class of boundary control systems (BCS) capable of describing the dynamics of many infinite dimensional systems of practical interest including flexible structures. We formulate a procedure for the exact inversion of the BCS without having to discretize its distributed model. The resulting inverse model is used to compute the feedforward control input for tracking a desired output trajectory without requiring the system to be minimum phase. The key results of the paper are illustrated on a flexible beam using a numerical simulation study

Keywords

beams (structures); feedforward; flexible structures; multidimensional systems; position control; tracking; boundary control system; distributed model; dynamic inversion; feedforward control; flexible beam; flexible structure; infinite dimensional system; inverse model; numerical simulation; output trajectory; Control systems; Equations; Flexible structures; Hilbert space; Inverse problems; Manipulator dynamics; Mechanical engineering; Stability; Trajectory; Transfer functions;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2006

Conference_Location

Minneapolis, MN

Print_ISBN

1-4244-0209-3

Electronic_ISBN

1-4244-0209-3

Type

conf

DOI

10.1109/ACC.2006.1655451

Filename

1655451