This paper presents investigations into the development of control schemes for end-point vibration suppression and input tracking of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, a Linear Quadratic Regulator (LQR) was initiall...

A positioning control system for an industrial application is designed and simulated for the use with a PID and loop-shaping controller. Classical design techniques are applied and their control performance under various conditions is assessed. The simulation is carried out under different input and disturbance conditions, as well as resonance mode additions.

This work exploits the rich symbolic and programming capabilities ofMathematica for the design of discrete-time control systems with dead-beat response to polynomial timedomain inputs, with special focus on linear, time-invariant, single-input single-output systems, that are studied and described using the z-transform method. Mathematica notebooks are presented for the symbolic computation of g...

We experimentally demonstrate simultaneous pulse repetition-rate multiplication and periodic pulse-to-pulse peak-intensity control based on optimized periodic spectral line-by-line pulse shaping. Accordingly, the method allows us to generate multiplied pulse trains in which the amplitude of each single pulse in a period can be arbitrarily tailored. The technique is illustrated with the generati...

Tower cranes are needed to move heavy objects safely around construction sites. In tower cranes, payload oscillations a typical problem that can cause safety issues, especially if the crane is not operated by an experienced user. Depending on system, there different causes for oscillations, e.g., inertial forces from movement or external forces, such as weather conditions. Hence, selected contr...

Successful control of contact transitions is an important capability of dextrous robotic manipulators. In this paper we examine several methods for controlling the transition from free motion to constrained motion, with an emphasis on minimizing fingertip load oscillations during the transition. A new approach, based on input command shaping, is discussed and compared with several methods devel...

A general framework for the design of multivariable control systems subject to hard constraints on each control channel is developed. The design procedure is based on the H∞ Loop Shaping and relies on the calculation of the maximum possible control amplitude for a class of reference signals, bounded in amplitude and rate. Special attention is given to adjustment of the design weights in order t...