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The use of slender and light flexible structures has increased in many applications, due to the requirement of more efficient structures. One objective of this work is to generate approximated models of two flexible-link robots for control purposes, which include rotational actuators, piezoelectric actuators, and different kinds of sensors (acceleration and deformation). The models are obtained under...
An indirect adaptive control strategy is developed to deal with self-excited torsional oscillations in drilling rig setups caused by friction during cutting action of the drill bit. The main contribution is the use of an online parameter estimator i.e. a state augmented continuous-discrete extended Kalman filter which is used to estimate parameters of the plant and adaptively update a robust backstepping...
In many applications, the use of slender and light flexible structures has increased due to the requirement of more efficient structures. One objective of this work is to generate an approximated model of a two flexible-link robot for control purposes, which includes rotational actuators, piezoelectric actuators, and different kinds of sensors (acceleration and deformation). The model is obtained...
In many applications, the use of slender and light flexible structures has increased due to the requirement of more efficient structures. One objective of this work is to generate a model of a two-flexible-link robot for control purposes, which includes rotational actuator, piezoelectric actuators, different kind of sensors (acceleration and deformation). The model is obtained under a classical mechanics...
In many applications, the use of slender and light flexible structures has increased due to the requirement of more efficient structures. One objective of this work is to generate a model of a single-link flexible robot, which includes rotational actuator, piezoelectric actuators, different kind of sensors, acceleration and deformation. The model is obtained under a classical mechanics approach: Lagrange...
In many applications, the use of slender and light flexible structures has increased due to the requirement of more efficient structures. The main objective of this work is to suppress vibration at the free end of a single-link rotational robot subjected to a harmonic disturbance located near to the tip of the link The control architecture is made up of two independent control loops; the first loop...
The demand on more efficient structures has increased the use of lightweight flexible structures in industrial applications. The main objective of this work is to suppress vibration at the free end of a single-link rotational robot subjected to fast movements. The control architecture is made up of two independent control loops; the first loop is employed to control the position of the hub and the...
In this work, control system design and implementation for active vibration control (AVC) of flexible structures with piezoelectric actuators is studied. The goal is to reduce the effect of harmonic disturbances with known time-varying frequencies acting on a system. As a test bed, a thin flexible aluminum cantilevered beam with two symmetrically bonded piezoelectric actuators is used. The harmonic...
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