Active Vibration and Noise Control. Robust Control of Flexible Arm.

Semi-active Vibration Control of a Flexible Arm Using Joint Stiffness Control

Control of impact induced transient vibrations of a single-link flexible-arm using variable stiffness control (VSC) is revisited in this study. Previously, VSC was show” to be eNective on a single-link flexible-arm when the active member of the controller consisted of an identical beam whose stiffness was derived from bending. The method was shown tn be effective but the added mass of the activ...

Robust Control of a Flexible Arm

Vibration Control of Piezoelectric Flexible Structure Using Robust Control Methodology

Active vibration control of a smart flexible cantilever beam was studied by using mode theory and μ synthesis method. The actuator is piezoceramic patch, the sensor is strain gauge. The finite element method and experimental modal test was applied to obtain the dynamic model of the smart structure. Taking account into uncertainty of the external disturbance and measurement noise, and uncertaint...

Vibration Control of Flexible Arm for Robot Experiment on JEM

In this paper, the dynamics and control of a novel mobile robot on the International Space Station (ISS) are discussed. The Japan Aerospace Exploration Agency (JAXA) is developing a robotic system which has an extendable arm and several tethers to support Extravehicular Activity (EVA) performed by astronauts. The robotic arm is build from a light material and can be extended longer. The vibrati...

Robust Optimal Control of Flexible Spacecraft During Slewing Maneuvers

In this paper, slewing maneuver of a flexible spacecraft with large angle of rotation is considered and assuming structural frequency uncertainties a robust minimum-time optimal control law is developed. Considering typical bang-bang control commands with multiple symmetrical switches, a parameter optimization procedure is introduced to find the control forces/torques. The constrained minimizat...