Full Content is available to subscribers

Subscribe/Learn More  >

Wave-Based Control of a Nonlinear Flexible System

[+] Author Affiliations
William J. O’Connor

University College Dublin, Dublin, Ireland

Francisco Ramos, Vicente Feliu

Universidad de Castilla-La Mancha, Ciudad Real, Spain

Paper No. ESDA2006-95391, pp. 273-280; 8 pages
  • ASME 8th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 3: Dynamic Systems and Controls, Symposium on Design and Analysis of Advanced Structures, and Tribology
  • Torino, Italy, July 4–7, 2006
  • ISBN: 0-7918-4250-9 | eISBN: 0-7918-3779-3
  • Copyright © 2006 by ASME


The motivation for this work is the control of flexible mechanical systems, such as long, light robot arms, gantry cranes, and large space structures, with an actuator at one end and a free boundary at the other. Very effective control strategies have recently been developed which are based on interpreting the actuator motion as launching mechanical “waves” (propagating motion) into the flexible system while absorbing returning “waves”. These control systems are robust to system changes and to actuator limitations. They are generic, require very little system modeling, need only local sensing, and are computationally light and easy to implement. In a flexible arm, when elastic deflections are large, frequently there is strongly nonlinear behavior. This paper investigates how such nonlinearities affect the wave-based control strategy. In summary, the news is good. It is found that errors arise only when trajectories are very demanding, and even then the errors are small. Some strategies for correcting these errors are explained: addition of a linear element at the actuator-system interface, error correction by second manoeuver, and redefinition of the waves in a less-than-optimal way. The paper presents these ideas and illustrates them with numerical simulations.

Copyright © 2006 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In