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Simultaneous Piezoelectric Actuator and Sensor Placement Optimization and Control Design of Manipulators with Flexible Links Using SDRE Method
Joint Authors
Bottega, Valdecir
Molter, Alexandre
Fonseca, Jun S. Ono
da Silveira, Otávio A. Alves
Source
Mathematical Problems in Engineering
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-23, 23 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-01-13
Country of Publication
Egypt
No. of Pages
23
Main Subjects
Abstract EN
This paper presents a control design for flexible manipulators using piezoelectric actuators bonded on nonprismatic links.
The dynamic model of the manipulator is obtained in a closed form through the Lagrange equations.
Each link is discretized using finite element modal formulation based on Euler-Bernoulli beam theory.
The control uses the motor torques and piezoelectric actuators for controlling vibrations.
An optimization problem with genetic algorithm (GA) is formulated for the location and size of the piezoelectric actuator and sensor on the links.
The natural frequencies and mode shapes are computed by the finite element method, and the irregular beam geometry is approximated by piecewise prismatic elements.
The State-Dependent Riccati Equation (SDRE) technique is used to derive a suboptimal controller for a robot control problem.
A state-dependent equation is solved at each new point obtained for the variables from the problem, along the trajectory to obtain a nonlinear feedback controller.
Numerical tests verify the efficiency of the proposed optimization and control design.
American Psychological Association (APA)
Molter, Alexandre& da Silveira, Otávio A. Alves& Fonseca, Jun S. Ono& Bottega, Valdecir. 2011. Simultaneous Piezoelectric Actuator and Sensor Placement Optimization and Control Design of Manipulators with Flexible Links Using SDRE Method. Mathematical Problems in Engineering،Vol. 2010, no. 2010, pp.1-23.
https://search.emarefa.net/detail/BIM-465985
Modern Language Association (MLA)
Molter, Alexandre…[et al.]. Simultaneous Piezoelectric Actuator and Sensor Placement Optimization and Control Design of Manipulators with Flexible Links Using SDRE Method. Mathematical Problems in Engineering No. 2010 (2010), pp.1-23.
https://search.emarefa.net/detail/BIM-465985
American Medical Association (AMA)
Molter, Alexandre& da Silveira, Otávio A. Alves& Fonseca, Jun S. Ono& Bottega, Valdecir. Simultaneous Piezoelectric Actuator and Sensor Placement Optimization and Control Design of Manipulators with Flexible Links Using SDRE Method. Mathematical Problems in Engineering. 2011. Vol. 2010, no. 2010, pp.1-23.
https://search.emarefa.net/detail/BIM-465985
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-465985