Simultaneous piezoelectric actuator and sensor placement optimization and control design of manipulators with flexible links using SDRE method
Autor(a) principal: | |
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Data de Publicação: | 2010 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UFRGS |
Texto Completo: | http://hdl.handle.net/10183/225809 |
Resumo: | This paper presents a control design for flexible manipulators using piezoelectric actuators bonded on nonprismatic links. The dynamic model of the manipulator is obtained in a closed form through the Lagrange equations. Each link is discretized using finite element modal formulation based on Euler-Bernoulli beam theory. The control uses the motor torques and piezoelectric actuators for controlling vibrations. An optimization problem with genetic algorithm GA is formulated for the location and size of the piezoelectric actuator and sensor on the links. The natural frequencies and mode shapes are computed by the finite element method, and the irregular beam geometry is approximated by piecewise prismatic elements. The State-Dependent Riccati Equation SDRE technique is used to derive a suboptimal controller for a robot control problem. A state-dependent equation is solved at each new point obtained for the variables from the problem, along the trajectory to obtain a nonlinear feedback controller. Numerical tests verify the efficiency of the proposed optimization and control design. |
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Molter, AlexandreSilveira, Otavio Augusto Alves daFonseca, Jun Sergio OnoBottega, Valdecir2021-08-18T04:33:33Z20101024-123Xhttp://hdl.handle.net/10183/225809000899903This paper presents a control design for flexible manipulators using piezoelectric actuators bonded on nonprismatic links. The dynamic model of the manipulator is obtained in a closed form through the Lagrange equations. Each link is discretized using finite element modal formulation based on Euler-Bernoulli beam theory. The control uses the motor torques and piezoelectric actuators for controlling vibrations. An optimization problem with genetic algorithm GA is formulated for the location and size of the piezoelectric actuator and sensor on the links. The natural frequencies and mode shapes are computed by the finite element method, and the irregular beam geometry is approximated by piecewise prismatic elements. The State-Dependent Riccati Equation SDRE technique is used to derive a suboptimal controller for a robot control problem. A state-dependent equation is solved at each new point obtained for the variables from the problem, along the trajectory to obtain a nonlinear feedback controller. Numerical tests verify the efficiency of the proposed optimization and control design.application/pdfengMathematical problems in engineering [recurso eletrônico]. New York, N.Y. vol. 2010 (2010), Article ID 362437, 23 p.RobóticaMateriais piezoelétricosManipuladores robóticosSimultaneous piezoelectric actuator and sensor placement optimization and control design of manipulators with flexible links using SDRE methodEstrangeiroinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/openAccessreponame:Repositório Institucional da UFRGSinstname:Universidade Federal do Rio Grande do Sul (UFRGS)instacron:UFRGSTEXT000899903.pdf.txt000899903.pdf.txtExtracted Texttext/plain52647http://www.lume.ufrgs.br/bitstream/10183/225809/2/000899903.pdf.txt43f81e50eccc0cff088617b4af6e5d2eMD52ORIGINAL000899903.pdfTexto completo (inglês)application/pdf2741199http://www.lume.ufrgs.br/bitstream/10183/225809/1/000899903.pdff17ad0a895941ed12c60a8e79b043d14MD5110183/2258092021-08-18 05:20:34.942oai:www.lume.ufrgs.br:10183/225809Repositório de PublicaçõesPUBhttps://lume.ufrgs.br/oai/requestopendoar:2021-08-18T08:20:34Repositório Institucional da UFRGS - Universidade Federal do Rio Grande do Sul (UFRGS)false |
dc.title.pt_BR.fl_str_mv |
Simultaneous piezoelectric actuator and sensor placement optimization and control design of manipulators with flexible links using SDRE method |
title |
Simultaneous piezoelectric actuator and sensor placement optimization and control design of manipulators with flexible links using SDRE method |
spellingShingle |
Simultaneous piezoelectric actuator and sensor placement optimization and control design of manipulators with flexible links using SDRE method Molter, Alexandre Robótica Materiais piezoelétricos Manipuladores robóticos |
title_short |
Simultaneous piezoelectric actuator and sensor placement optimization and control design of manipulators with flexible links using SDRE method |
title_full |
Simultaneous piezoelectric actuator and sensor placement optimization and control design of manipulators with flexible links using SDRE method |
title_fullStr |
Simultaneous piezoelectric actuator and sensor placement optimization and control design of manipulators with flexible links using SDRE method |
title_full_unstemmed |
Simultaneous piezoelectric actuator and sensor placement optimization and control design of manipulators with flexible links using SDRE method |
title_sort |
Simultaneous piezoelectric actuator and sensor placement optimization and control design of manipulators with flexible links using SDRE method |
author |
Molter, Alexandre |
author_facet |
Molter, Alexandre Silveira, Otavio Augusto Alves da Fonseca, Jun Sergio Ono Bottega, Valdecir |
author_role |
author |
author2 |
Silveira, Otavio Augusto Alves da Fonseca, Jun Sergio Ono Bottega, Valdecir |
author2_role |
author author author |
dc.contributor.author.fl_str_mv |
Molter, Alexandre Silveira, Otavio Augusto Alves da Fonseca, Jun Sergio Ono Bottega, Valdecir |
dc.subject.por.fl_str_mv |
Robótica Materiais piezoelétricos Manipuladores robóticos |
topic |
Robótica Materiais piezoelétricos Manipuladores robóticos |
description |
This paper presents a control design for flexible manipulators using piezoelectric actuators bonded on nonprismatic links. The dynamic model of the manipulator is obtained in a closed form through the Lagrange equations. Each link is discretized using finite element modal formulation based on Euler-Bernoulli beam theory. The control uses the motor torques and piezoelectric actuators for controlling vibrations. An optimization problem with genetic algorithm GA is formulated for the location and size of the piezoelectric actuator and sensor on the links. The natural frequencies and mode shapes are computed by the finite element method, and the irregular beam geometry is approximated by piecewise prismatic elements. The State-Dependent Riccati Equation SDRE technique is used to derive a suboptimal controller for a robot control problem. A state-dependent equation is solved at each new point obtained for the variables from the problem, along the trajectory to obtain a nonlinear feedback controller. Numerical tests verify the efficiency of the proposed optimization and control design. |
publishDate |
2010 |
dc.date.issued.fl_str_mv |
2010 |
dc.date.accessioned.fl_str_mv |
2021-08-18T04:33:33Z |
dc.type.driver.fl_str_mv |
Estrangeiro info:eu-repo/semantics/article |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10183/225809 |
dc.identifier.issn.pt_BR.fl_str_mv |
1024-123X |
dc.identifier.nrb.pt_BR.fl_str_mv |
000899903 |
identifier_str_mv |
1024-123X 000899903 |
url |
http://hdl.handle.net/10183/225809 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.ispartof.pt_BR.fl_str_mv |
Mathematical problems in engineering [recurso eletrônico]. New York, N.Y. vol. 2010 (2010), Article ID 362437, 23 p. |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
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application/pdf |
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