A linearized input-output representation of flexible multibody systems for control synthesis

被引：11
|
作者：
Jonker, J. B. [1 ]
Aarts, R. G. K. M. [1 ]
van Dijk, J. [1 ]
机构：
[1] Univ Twente, Fac Engn Technol, NL-7500 AE Enschede, Netherlands
来源：
MULTIBODY SYSTEM DYNAMICS | 2009年 / 21卷 / 02期
关键词：
Flexible multibody systems; Input-output equations; State-space equations; Linearized equations; Mechatronics; MANIPULATORS; MECHANISMS; SIMULATION; DYNAMICS;
D O I：
10.1007/s11044-008-9130-6
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
In this paper, a linearized input-output representation of flexible multibody systems is proposed in which an arbitrary combination of positions, velocities, accelerations, and forces can be taken as input variables and as output variables. The formulation is based on a nonlinear finite element approach in which a multibody system is modeled as an assembly of rigid body elements interconnected by joint elements such as flexible hinges and beams. The proposed formulation is general in nature and can be applied for prototype modeling and control system analysis of mechatronic systems. Application of the theory is illustrated through a detailed model development of an active vibration isolation system for a metrology frame of a lithography machine.
引用
收藏
页码：99 / 122
页数：24
相关论文
共 50 条
  • [41] Input-Output Finite-Time Asynchronous SMC for Nonlinear Semi-Markov Switching Systems With Application
    Qi, Wenhai
    Zong, Guangdeng
    Ahn, Choon Ki
    IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2022, 52 (08): : 5344 - 5353
  • [42] Approximate End-Effector Tracking Control of Flexible Multibody Systems Using Singular Perturbations
    Gorius, Thomas
    Seifried, Robert
    Eberhard, Peter
    JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS, 2014, 9 (01):
  • [43] Input-output decoupling for mix-valued logical control networks via the semi-tensor product method
    Wang, Jianjun
    De Leone, Renato
    Fu, Shihua
    Xia, Jianwei
    INTERNATIONAL JOURNAL OF CONTROL, 2021, 94 (09) : 2419 - 2427
  • [44] An Input-Output Approach to Anti-windup Design for Sampled-Data Systems with Time-Varying Delay
    Lamrabet, Ouarda
    Naamane, Khadija
    Tissir, El Houssaine
    El Haoussi, Fatima
    Tadeo, Fernando
    CIRCUITS SYSTEMS AND SIGNAL PROCESSING, 2020, 39 (10) : 4868 - 4889
  • [45] Effects of Input Shaping on Manual Control of Flexible and Time-Delayed Systems
    Potter, James J.
    Singhose, William E.
    HUMAN FACTORS, 2014, 56 (07) : 1284 - 1295
  • [46] HIOA-CPS: Combining Hybrid Input-Output Automaton and Game Theory for Security Modeling of Cyber-Physical Systems
    Abdallah, Mustafa
    Mitra, Sayan
    Sundaram, Shreyas
    Bagchi, Saurabh
    2021 IEEE SYMPOSIUM ON SECURITY AND PRIVACY WORKSHOPS (SPW 2021), 2021, : 253 - 259
  • [47] Input-Output Feedback Linearization Control of a Linear Induction Motor Taking Into Consideration Its Dynamic End-Effects and Iron Losses
    Accetta, Angelo
    Cirrincione, Maurizio
    D'Ippolito, Filippo
    Pucci, Marcello
    Sferlazza, Antonino
    IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, 2022, 58 (03) : 3664 - 3673
  • [48] Strictly Positive Realness-Based Feedback Gain Design Under Imperfect Input-Output Feedback Linearization in Prioritized Control Problem
    An, Sang-ik
    Park, Gyunghoon
    Lee, Dongheui
    2023 62ND IEEE CONFERENCE ON DECISION AND CONTROL, CDC, 2023, : 2622 - 2629
  • [49] Adaptive neural network control of unknown nonlinear affine systems with input deadzone and output constraint
    He, Wei
    Dong, Yiting
    Sun, Changyin
    ISA TRANSACTIONS, 2015, 58 : 96 - 104
  • [50] On the use of component mode synthesis methods for the model reduction of flexible multibody systems within the floating frame of reference formulation
    Cammarata, Alessandro
    Pappalardo, Carmine Maria
    MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2020, 142
12345