Modeling, discretization and motion control of a flexible beam in the port-Hamiltonian framework

Authors

Abstract

In this paper, we present an approach to solve the feedforward motion control problem for a flexible beam, modeled with linear Timoshenko beam theory. The originality lies in the fact that all design steps, from modeling, over discretization to feedforward control are executed within the port-Hamiltonian (PH) framework. To obtain a finite-dimensional PH model which is suitable for inversion-based feedforward control design, a geometric pseudo-spectral discretization is performed. The feedforward control is tested with a plant model implemented in standard FEM software. The results of this paper will be amended by feedback control to achieve highly dynamic motion control on a lab test rig which is currently under construction.

Keywords

Flexible robot arm; port-Hamiltonian systems; distributed parameter systems; pseudo-spectral method; geometric discretization; inversion-based feedforward control

Citation

Journal: IFAC-PapersOnLine
Year: 2017
Volume: 50
Issue: 1
Pages: 6799–6806
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2017.08.2511
Note: 20th IFAC World Congress

BibTeX

@article{Wang_2017,
  title={{Modeling, discretization and motion control of a flexible beam in the port-Hamiltonian framework}},
  volume={50},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2017.08.2511},
  number={1},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Wang, M. and Bestler, A. and Kotyczka, P.},
  year={2017},
  pages={6799--6806}
}

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References

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