Evolutionary Adaptive Active Vibration Control

© All Rights Reserved

Als PDF, TXT **herunterladen** oder online auf Scribd lesen

9 Aufrufe

Evolutionary Adaptive Active Vibration Control

© All Rights Reserved

Als PDF, TXT **herunterladen** oder online auf Scribd lesen

- GNEC 4-1 Hand Books
- Active control connected plates
- 3183X_bib
- InTech-Active Vibration Control of a Smart Beam by Using a Spatial Approach
- 87_ftp
- Autoeng Advising Document Fall 2013 Entry or Earlier
- 1-s2.0-S0957415805001376-main
- A Review of Torsional Vibration Control Methods
- Vibration Control Strategy for Flexible Joint Manipulator a Fuzzy Logic Control Approach
- 21D75884d01
- 3.Aerospace.applicaitons.part1
- Duidamscriptie
- Mottershead J.e_ Active Vibration Suppression by Pole-zero Placement Using Measured Receptances
- P498
- Vibration Control Comparison of a Single Link Flexible Manipulator Between Fuzzy Logic Control and Pole Placement Control
- 11 Chapter 2
- Active Suspension System
- vibratii_enbook
- Bos3088 01AntiSlosh L
- Active Vibration Control of a Three-stage Tensegrity Structure by Chan, Arbelaez, Bossens, Skelton

Sie sind auf Seite 1von 11

1

Department of Computer Science, University of Dhaka, Bangladesh

2

Department of Automatic Control and Systems Engineering, The University of Sheffield

Abstract: This paper presents an investigation into the development of an adaptive active control

mechanism for vibration suppression using genetic algorithms (GAs). GAs are used to estimate the

adaptive controller characteristics, where the controller is designed on the basis of optimal vibration

suppression using the plant model. This is realized by minimizing the prediction error of the actual plant

output and the model output. A MATLAB GA toolbox is used to identify the controller parameters. A

comparative performance of the conventional recursive least-squares (RLS) scheme and the GA is

presented. The active vibration control system is implemented with both the GA and the RLS schemes, and

its performance assessed in the suppression of vibration along a flexible beam structure in each case.

Keywords: active vibration control, genetic algorithms, recursive least squares, flexible beam structure

practice, the spectral contents of the disturbances as well as

The methods of tackling the problems arising due to un- the characteristics of system components are, in general,

wanted structural vibrations (disturbances) consist of pas- subject to variation, giving rise to time-varying phenomena.

sive and active control. Traditional methods of vibration This implies that the control mechanism is further required

suppression include passive control, which consist of to be intelligent enough to track these variations so that

mounting passive material on the structure. These methods the desired level of performance is achieved and main-

are efficient at high frequencies but expensive and bulky at tained (2).

low frequencies. Moreover, the current trend towards Active vibration control is not a new concept. It is based

lightweight, and hence flexible, structures has imposed a on the principles that were initially proposed by Lueg in the

further limitation to the utilization of passive control early 1930s for noise cancellation (3). Since then a consid-

methods, especially for low-frequency vibration suppres- erable amount of research work has been devoted to the

sion. Active vibration control (AVC) is found to be more development of methodologies for the design and realiza-

efficient and economical than passive methods at low- tion of AVC systems in various applications (1, 2, 46).

frequency vibration suppression. Thus, to achieve vibration Active vibration control mechanisms that are developed

suppression over the full (lowhigh) frequency range, a generally concentrate on reducing the level of vibrations at

hybrid control method incorporating active techniques for selected resonance modes of the system. In doing so,

low-frequency and passive techniques for high-frequency problems related to observation and=or control spill-over

vibration suppression can be utilized (1). due to unmodelled dynamics of the system arise. These

Active vibration control consists of artificially generat- problems can be avoided by designing an AVC system that

ing cancelling source(s) to destructively interfere with the incorporates a suitable system identification algorithm

unwanted source and thus result in a reduction in the level through which an appropriate model of the system can be

of the vibration (disturbances) at desired location(s) in a developed within the frequency range of interest. The AVC

structure. This is realized by detecting and processing the system presented in this paper includes an on-line system

vibration by a suitable electronic controller so that, when identification algorithm which gives a suitable model of

superimposed on the disturbances, cancellation occurs. Due the system in parametric form within a broad range of

to the broadband nature of the disturbances, it is required frequencies of interest. The model thus obtained is then

that the control mechanism in an AVC system realizes used to design the required controller and generate the

suitable frequency-dependent characteristics so that cancel- corresponding control signal so as to reduce the level of

vibration over this broad frequency range.

The evolutionary genetic algorithm (GA), imitating the

The MS was received on 3 June 1996 and was accepted for publication on collective learning paradigm of natural populations, is

19 April 1997. based upon Darwin's observations and the modern syn-

I02696 # IMechE 1997 Proc Instn Mech Engrs Vol 211 Part I

184 M A HOSSAIN AND M O TOKHI

y(0, t) 0 and 0

technique that emulates natural genetic operators. Since it @x

(2)

simultaneously evaluates many points in the parameter @ 2 y(L, t) @ 3 y(L, t)

space, it is more likely to converge towards the global 0 and 0

@x 2 @x 3

solution. It does not need to assume that the search space is

differentiable or continuous, and can also iterate several Note that the model thus utilized incorporates no

times on each datum received. A GA applies operators damping. To construct a suitable platform for test and

inspired by the mechanics of natural selection to a popula- verification of the control mechanism (introduced later), a

tion of binary strings encoding the parameter space. At method of obtaining a numerical solution of the PDE in

each generation, it explores different areas of the parameter equation (1) is required. This can be achieved by using the

space and then directs the search to regions where there is a finite difference (FD) method. This involves a discretiza-

high probability of finding improved performance. By tion of the beam into a finite number of equal-length

working with a population of solutions the algorithm can in sections (segments), each of length x, and considering the

effect search many local minima and thereby increases the beam motion (deflection) for the end of each section at

likelihood of finding the global minimum. The GAs were equally spaced time steps of duration t. Thus, using first-

first introduced in the 1960s, embedding into the general order central FD methods to approximate the partial

framework of adaptation (7). During the last two decades, a derivative terms in equations (1) and (2) yields (13)

substantial amount of research work has been carried out

both in engineering and non-engineering disciplines (8 1

Y j1 Yj 1 2 SY j (t)2 U (x, t) (3)

10). Although GAs have gained popularity as parallel, m

global search techniques (11), their use in the area of active

control is very limited. where Y k (k j 1, j, j 1) is an n 3 1 matrix repre-

This paper presents an investigation into the use of GAs senting the deflection of grid points 1 to n of the beam at

to estimate the adaptive controller characteristics, where time step k, S is a matrix, given in terms of characteristics

the controller is designed based on the plant model. This is of the beam and the discretization steps t and x, and

realized by minimizing the prediction error of the actual 2 (t)2 (x) 4 2 . Equation (3) is the required relation

plant output and the model output. A MATLAB GA for the simulation algorithm, characterizing the behaviour

toolbox is utilized to identify the controller parameters. A of the cantilever beam system, that can be implemented on

comparative performance of the conventional recursive a digital computer easily. For the algorithm to be stable it is

least-squares (RLS) scheme and the GA is presented. The required that the iterative scheme described in equation (3),

AVC algorithm is implemented with both the GA and the for each grid point, converges to a solution. It has been

RLS schemes and its performance assessed in the suppres- shown that a necessary and sufficient condition for stability

sion of vibration along a flexible beam structure. satisfying this convergence requirement is given by

0 , 2 < 0:25 (12).

Consider a cantilever beam of length L, fixed at one end A schematic diagram of an AVC structure is shown in Fig.

and free at another, with a force U (x, t) applied at a 1a. An unwanted (primary disturbance) point source emits

distance x from its fixed (clamped) end at time t, resulting broadband disturbance into the structure. This is detected

in a deflection y(x, t) of the beam from its stationary by a detector, processed by a controller of suitable transfer

(unmoved) position at the point where the force has been characteristics and fed to a cancelling (secondary) point

applied. The motion of the beam in transverse vibration is, actuator. The secondary (control) signal thus generated

thus, governed by the well-known fourth-order partial interferes with the disturbance so as to achieve a reduction

differential equation (PDE) (12, 13) in the level of vibration at an observation point along the

structure.

A frequency-domain equivalent block diagram of the

@ 4 y(x, t) @ 2 y(x, t) 1

2 U (x, t) (1) AVC structure is shown in Fig. 1b, where E, F, G and H are

@x 4 @ t2 m

transfer functions of the paths between the primary source

and the detector, secondary source and the detector, primary

where is a beam constant given by 2 EI=(rA) with r, source and the observer and secondary source and the

A, I and E representing the mass density, cross-sectional observer respectively. M, M O , C and L are transfer charac-

area, moment of inertia of the beam and the Young teristics of the detector, the observer, the controller and the

modulus respectively, and m is the mass of the beam. The secondary source respectively. U D and U C are the primary

corresponding boundary conditions at the fixed and free and secondary signals at the source locations, whereas YOD

ends of the beam are given by and YOC are the corresponding signals at the observation

Proc Instn Mech Engrs Vol 211 Part I I02696 # IMechE 1997

EVOLUTIONARY ADAPTIVE ACTIVE VIBRATION CONTROL 185

Fig. 1 Active vibration control structure: (a) schematic diagram, (b) block diagram

point respectively. U M is the detected signal and YO is the Equation (4) is the required controller design rule given

observed signal. The block diagram in Fig. 1b can be in terms of transfer characteristics Q0 and Q1 which can be

thought of either in the continuous frequency (s) domain or measured=estimated on-line. An on-line design and im-

discrete frequency (z) domain. Therefore, unless specified, plementation of the controller can thus be achieved by

the analysis and design developed in this paper apply to both obtaining Q0 and Q1 using a suitable system identification

the continuous-time and the discrete-time domains. algorithm, then using equation (4) to calculate the con-

troller transfer function and implementing this on a digital

processor. Moreover, to monitor system performance and

3.1 Controller design

update the controller characteristics upon changes in the

For complete cancellation of the disturbance to be achieved system a supervisory level control can be utilized. This

at the observation point YO must be forced to become zero. results in a self-tuning AVC mechanism. The supervisor is

This is equivalent to the minimum variance design criterion designed to monitor system performance on the basis of a

in a stochastic environment. This requires the primary and prespecified quantitative measure of cancellation as an

secondary signals at the observation point to be equal in index of performance, so that if the cancellation achieved is

amplitude and have a phase difference of 1808 relative to within the specified range then the algorithm implementa-

one another. To allow the development of a self-tuning AVC tion remains at the control level. However, if the cancella-

algorithm, consider the system in Fig. 1 with the detected tion is outside the specified range then self-tuning is

signal, UM , as input and the observed signal, YO , as output. reinitiated at the identification level. The supervisory level

Moreover, owing to the state of the secondary source, let the can also be facilitated with further levels of intelligence

system behaviour be characterized by two subsystems, such as monitoring system stability, system performance in

namely, when the secondary is off, with an equivalent a transient period and validation of the plant model at the

transfer function denoted by Q0, and when the secondary identification level.

source is on, with an equivalent transfer function denoted by In implementing the self-tuning control algorithm de-

Q1 . Thus, synthesizing the controller within the block scribed above, several issues of practical importance need

diagram of Fig. 1b on the basis of the above objective yields. to be given careful consideration. These include properties

of the disturbance signal, robustness of the estimation and

Q1 1 control, system stability and processor-related issues such

C 1 (4)

Q0 as word length, speed and computational power (2, 13).

I02696 # IMechE 1997 Proc Instn Mech Engrs Vol 211 Part I

186 M A HOSSAIN AND M O TOKHI

y(n) is the desired (plant) output and ^y(n) is the estimated

The conventional on-line system identification schemes, model output.

such as least squares, instrumental variable, maximum The process of calculation of parameters of the controller

likelihood, etc., are in essence local search techniques. uses the design rule in equation (4) with the estimated Q0

These techniques often fail in the search for the global and Q1 . The controller thus obtained can be implemented

optimum if the search space is not differentiable or linear in on-line in discrete form using the equivalent difference

the parameters. On the other hand, these techniques do not equation formulation.

iterate more than once on each datum received. In contrast, a

GA simultaneously evaluates many points in the parameter

space and converges towards the global solution. It does not 4 IMPLEMENTATIONS AND RESULTS

require the search space to be differentiable or continuous

and can also iterate several times on each datum received

The fitness function in equation (5) was implemented for

(11). A genetic algorithm differs from other search techni-

both Q0 and Q1 considering each as a linear discrete

ques by the use of concepts taken from natural genetics and

second-order model. Investigations showed that the conver-

evolution theory. Firstly, the algorithm works with a

gence varies with changes in the number of individuals or in

population of strings, searching many peaks in parallel. By

the representation. It was noted that the case where

employing genetic operators it exchanges information be-

parameters of the model were represented by 20 bit strings

tween the peaks, hence reducing the possibility of ending at

for 30 individuals offered the best convergence. Thus, this

a local minimum and missing the global minimum.

configuration was utilized subsequently throughout this

Secondly, it works with a coding of the parameters, not the

investigation at estimating Q0 and Q1 . The convergence of

parameters themselves. Intuitively, it is better to have few

prediction errors for Q0 and Q1 was obtained over 300

possible options for many bits than to have many options for

generations. Figure 2 shows the desired (plant) output and

few bits. Thirdly, the algorithm only needs to evaluate the

the estimated model output for the two models thus obtained

objective function to guide its search. There is no require-

using the GA. The corresponding outputs with second-order

ment for derivatives or other auxiliary knowledge. The only

estimated models using the RLS algorithm are shown in

available feedback from the system is the value of the

Fig. 3. It is noted that, as compared to the RLS estimation,

performance measure of the current population. Finally, the

the GA achieved a significantly better performance.

transition rules are probabilistic rather than deterministic.

To investigate the performance of the self-tuning AVC

A GA in its simplest form uses three operators: repro-

algorithm, an aluminium-type cantilever beam of length

duction=selection, crossover and mutation (10). These

L 0.635 m, mass m 0.037 kg and 1.351 was

operators are applied iteratively to each generation of in-

simulated by dividing the beam into 19 segments. For the

dividuals. The first operation, reproduction=selection, will

simulation algorithm to be stable a sample period

choose individuals for mating based on their objective

t 0:3 ms, which is sufficient to cover all the resonance

value. The objective value represents how good that

modes of vibration of the beam, was selected, giving a

solution is and usually requires some form of function to be

value of 0:3629. To allow dominant modes of vibration

evaluated. The second operation, crossover, will take these

of the beam to be excited, a PRBS disturbance force of

pairs and exchange elements of the data structures. The

0:1N applied at grid point 12 was used as the unwanted

crossover may result in the progeny having a higher or

primary disturbance and the control source at grid point 20.

lower objective value as compared to the parents. The final

In general, two factors, namely, the nature of the dis-

operation, mutation, will periodically modify parts of the

turbance including its amplitude and frequency contents

data structure of an individual, therefore making it repre-

and the location at which it is applied, determine the

sent a different point in the search space. Mutation drives

dynamic modes of the structure that are excited and the

the GA into exploring alternative areas of the search space.

level at which these modes will appear. Moreover, in AVC

The process of identification is described here as the

applications, system stability is affected by the geometrical

process of estimating parameters of the required controller

arrangement of system components (14). These were the

characteristics. In this manner, it consists of the processes

determining factors at choosing the type and location of the

of estimating the system models Q0 and Q1 and the

disturbance in this work. The controller was implemented

controller design calculation. The RLS algorithm (14) and

based on the plant model estimated utilizing GAs. Figure 4

GAs are used here to estimate the system models Q0 and

shows the response of the beam before and after cancella-

Q1 in the discrete-time domain in parametric form.

tion at the observation point (grid point 20). Figure 5 shows

The GAs are based on the method of minimization of the

the corresponding time-domain representation of the beam

prediction error. To estimate the parameters of Q0 and Q1

fluctuation along its length. It was noted, through a spectral

using GAs, the fitness function

density representation of the results in Fig. 4, that a

X

q cancellation of about 10 dB was achieved at the first

f (e) j y(n) ^y(n)j (5) resonance mode. The cancellation at the second resonance

n0 mode was 1 dB. The vibrations at the third, fourth and fifth

Proc Instn Mech Engrs Vol 211 Part I I02696 # IMechE 1997

EVOLUTIONARY ADAPTIVE ACTIVE VIBRATION CONTROL 187

Fig. 2 Performance of the GA based models: (a) desired (solid line) and estimated (dashed line) output

for Q0 ; (b) desired (solid line) and estimated (dashed line) output for Q1

I02696 # IMechE 1997 Proc Instn Mech Engrs Vol 211 Part I

188 M A HOSSAIN AND M O TOKHI

Fig. 3 Performance of the RLS-based models: (a) desired (solid line) and estimated (dashed line)

output for Q0 ; (b) desired (solid line) and estimated (dashed line) output for Q1

Proc Instn Mech Engrs Vol 211 Part I I02696 # IMechE 1997

EVOLUTIONARY ADAPTIVE ACTIVE VIBRATION CONTROL 189

Fig. 4 System response at the observation point with the GA-based AVC system: (a) before

cancellation, (b) after cancellation

I02696 # IMechE 1997 Proc Instn Mech Engrs Vol 211 Part I

190 M A HOSSAIN AND M O TOKHI

Fig. 5 Beam fluctuation along its length with the GA-based AVC system: (a) before cancellation,

(b) after cancellation

resonance modes were slightly reinforced. This was due to To compare with a conventional RLS-based AVC

the low-order linear model considered in the estimation system, the controller was also implemented in a similar

process mainly to account for the highly dominant modes. manner utilizing the RLS estimator. Figure 6 shows the

This suggests that better cancellation may be achieved with performance of the RLS-based AVC system at the observa-

a higher order model or by using a non-linear model. tion point. The corresponding time-domain fluctuation

Proc Instn Mech Engrs Vol 211 Part I I02696 # IMechE 1997

EVOLUTIONARY ADAPTIVE ACTIVE VIBRATION CONTROL 191

Fig. 6 System response at the observation point with the RLS-based AVC system: (a) before

cancellation, (b) after cancellation

I02696 # IMechE 1997 Proc Instn Mech Engrs Vol 211 Part I

192 M A HOSSAIN AND M O TOKHI

along the beam length is shown in Fig. 7. It was noted, modes were slightly reinforced. Thus, it can be concluded

through a spectral density representation of the results in from this investigation that the conventional RLS-based

Fig. 6, that a cancellation of about 8 dB was achieved at the AVC system is unimpressive as compared to the GA-based

first resonance mode and 0.28 dB at the second resonance system.

mode. The vibrations at the third and fourth resonance It was noted in the experiments above that the execution

Fig. 7 Beam fluctuation along its length with the RLS-based AVC system: (a) before cancellation,

(b) after cancellation

Proc Instn Mech Engrs Vol 211 Part I I02696 # IMechE 1997

EVOLUTIONARY ADAPTIVE ACTIVE VIBRATION CONTROL 193

time of the GA-based algorithm was substantially more 2 Tokhi, M. O. and Leitch, R. R. Design and implementation

than that of the conventional scheme with the same of self-tuning active noise control systems. IEE Proc. D, 1991,

computing platform. This has corresponding consequences 138, 421430.

on the practical realization of the proposed strategy in real- 3 Lueg, P. Process of silencing sound oscillations. US Pat.

2 043 416, 1936.

time. However, research into high-performance computing

4 Baz, A. and Poh, S. Performance of an active control system

techniques, for instance parallel computing, could lead to with piezoelectric actuators. J. Sound Vibr., 1988, 126,

suitable solutions for the real-time implementation of the 327343.

GA-based algorithm (15). It is important to note that the 5 Doelman, N. J. A unified control strategy for the active

GA is based on probabilistic rules, and there is no reduction of sound and vibration. J. Intelligent Mater. Systems

guarantee that the controller will always stabilize the plant. and Struct., 1991, 2, 558580.

This problem could, however, be addressed by incorporat- 6 Elliot, S., Stothers, I. M. and Nelson, P. A. A multiple error

ing a monitoring mechanism within the system. LMS algorithm and its application to the active control of

sound and vibration. IEEE Trans. Acous., Speech, and Signal

Processing, 1987, 35, 14231434.

5 CONCLUSION 7 Holland, J. H. Adaptation in Natural and Artificial Systems,

1975 (University of Michigan Press, Michigan).

The design and implementation of a GA- and RLS-based 8 Chipperfield, A. J., Fleming, P. J. and Fonseca, C. M.

adaptive AVC algorithm for flexible beam structures has Genetic algorithm tools for control systems engineering. In

Proceedings of Conference on Adaptive Computing in Engi-

been presented, discussed and verified through numerical

neering Design and Control, Plymouth, 2122 September

simulations. A supervisory level control has been incorpor- 1994.

ated within the algorithm which allows on-line monitoring 9 Flockton, S. J. and White, M. J. Pole-zero system identifica-

of system performance and controller adaptation. The tion using genetic algorithms. In Proceedings of Fifth Inter-

performance of both algorithms have been verified in the national Conference on Genetic Algorithms, University of

suppression of broadband vibration in a flexible beam Illinois at Urbana Champaign, 1721 July 1993, pp. 531535.

system. This investigation has demonstrated that better 10 Goldberg, D. E. Genetic Algorithms in Search, Optimization

estimation of a system model is achieved using GAs as and Machine Learning, 1989 (Addison-Wesley, Reading,

compared to a conventional RLS scheme. Consequently, Massachusetts).

the system incorporating the GA-based estimator has 11 Kristinsson, K. and Dumont, G. System identification and

achieved a better performance as compared to that using an control using genetic algorithms. IEEE Trans. Systems, Man,

and Cybernetics, 1992, 22, 10331046.

RLS-based estimator. However, it has been demonstrated

12 Kourmoulis, P. K. Parallel processing in the simulation and

that cancellation at the higher modes has not been impres- control of flexible beam structure systems. PhD thesis,

sive in both cases. This has also established the future Department of Automatic Control and Systems Engineering,

direction for investigation towards using higher order linear The University of Sheffield, Sheffield, 1990.

models and utilization of non-linear models using GAs for 13 Tokhi, M. O. and Hossain, M. A. Self-tuning active vibration

AVC systems. control in flexible beam structures. Proc. Instn Mech. Engrs,

Part I, 1994, 208 (I4), 263277.

14 Tokhi, M. O. and Leitch, R. R. Active Noise Control, 1992

REFERENCES (Clarendon Press, Oxford).

15 Tokhi, M. O. and Hossain, M. A. Homogeneous and hetero-

1 Leitch, R. R. and Tokhi, M. O. Active noise control systems. geneous parallel architectures in real-time signal processing

IEE Proc. A, 1987, 134, 525546. and control. Control Engng Practice, 1995, 3, 16751686.

I02696 # IMechE 1997 Proc Instn Mech Engrs Vol 211 Part I

- GNEC 4-1 Hand BooksHochgeladen vonKabir Sai Prasanna Suryavansh
- Active control connected platesHochgeladen vonJorge Alberto Martinez Ortiz
- 3183X_bibHochgeladen vonCalin Campean
- InTech-Active Vibration Control of a Smart Beam by Using a Spatial ApproachHochgeladen vonOzgur Harputlu
- 87_ftpHochgeladen vonTarek Ed E
- Autoeng Advising Document Fall 2013 Entry or EarlierHochgeladen vonanonimus19
- 1-s2.0-S0957415805001376-mainHochgeladen vonk_vinothkumar75
- A Review of Torsional Vibration Control MethodsHochgeladen vonqaisarharis
- Vibration Control Strategy for Flexible Joint Manipulator a Fuzzy Logic Control ApproachHochgeladen vonVignesh Ramakrishnan
- 21D75884d01Hochgeladen voninfodotz
- 3.Aerospace.applicaitons.part1Hochgeladen vonJason Chiang
- DuidamscriptieHochgeladen vonramiyamin
- Mottershead J.e_ Active Vibration Suppression by Pole-zero Placement Using Measured ReceptancesHochgeladen vonsumatrablackcoffee453
- P498Hochgeladen vonCésar Tapia
- Vibration Control Comparison of a Single Link Flexible Manipulator Between Fuzzy Logic Control and Pole Placement ControlHochgeladen vonIJSTR Research Publication
- 11 Chapter 2Hochgeladen vonVijay Pratap Singh
- Active Suspension SystemHochgeladen vonSohan Rao
- vibratii_enbookHochgeladen vonirinuca12
- Bos3088 01AntiSlosh LHochgeladen vonjohnjoviedo
- Active Vibration Control of a Three-stage Tensegrity Structure by Chan, Arbelaez, Bossens, SkeltonHochgeladen vonTensegrity Wiki
- vibrational analysis using active magnetic bearingsHochgeladen vonhidai
- Multi-objective Optimal Tuning of Multi-loop Control Systems by using Evolutionary ComputationHochgeladen vonGambier
- computer.pdfHochgeladen vonTyumuu Feweu
- Demonstration Problems 2017Hochgeladen vonJesus Alejandro Marval Diaz
- Vibration Suppression for Large Scale Adaptive Truss Structures Using Direct Output Feedback Control1Hochgeladen vonoscar201140
- Comparative Study Between Positive Position Feedback and Negative Derivative Feedback for Vibration Control of a Flexible Arm Featuring Piezoelectric Actuator_2017Hochgeladen vonoscar201140
- Ch 3 Optimal Placement of Sensors and Actuators.pdfHochgeladen vonmaheshnagarkar
- isma2012_0814Hochgeladen vonradmard
- 4cdf153bb71e387f784463ce45bbd053c7bf.pdfHochgeladen vonKeval Suthar
- 005 18-079Hochgeladen vonNguyen Van Quyen

- Digital twin for adaptation of robots’ behavior in flexible roboticHochgeladen vonoscar201140
- khatoon2017Hochgeladen vonoscar201140
- Analisis de estructurasHochgeladen vonoscar201140
- Hamiltonian Dynamics - Gaetano VilasiHochgeladen vonMircea Bocioaga
- Dynamics of Flexible Manipulator Arms Alternative Derivation, Verification, and Charasteristics for Control.pdfHochgeladen vonoscar201140
- A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic SurgeryHochgeladen vonoscar201140
- Example Identification HBS Force CoefficientsHochgeladen vonoscar201140
- Short JB Static and Dynamic Performance 2009 ExpandedHochgeladen vonoscar201140
- Zhao 2011Hochgeladen vonoscar201140
- A Passivity-based Approach to Force Regulation and Motion Control of Robot ManipulatorsHochgeladen vonoscar201140
- Inertial Vibration Damping of a Flexible Base Manipulator.pdfHochgeladen vonoscar201140
- Verification of a linear dynamic model for flexible robotic manipulators.pdfHochgeladen vonoscar201140
- Contact Control for Advanced Applications of Light Weight Arms.pdfHochgeladen vonoscar201140
- A Module for Modeling and Control Design of Flexible RobotsHochgeladen vonoscar201140
- Hydrodynamic Journal Bearings-Types, Characteristics, & Applications (John C. Nicholas)Hochgeladen vontoon_na
- Mechatronics in Rotating MachineryHochgeladen vonPiotr Pietrzak
- Seminar_Active magnetic bearingsHochgeladen vonkichupadiyath
- Robust Adaptive Fault-Tolerant Control of a Tandem Coaxial Ducted Fan Aircraft With Actuator SaturationHochgeladen vonoscar201140
- Observer-based control for the platform of a tethered space robotHochgeladen vonoscar201140
- Adaptive Integral-type Sliding Mode Control for Spacecraft AttitudeHochgeladen vonoscar201140
- Adaptive trajectory control and friction compensation of a flexible link robot.pdfHochgeladen vonoscar201140
- End-effector Trajectory Tracking in Flexible Arms Comparison of Approaches Based on Regulation TheoryHochgeladen vonoscar201140
- flexible robots de luca 2014.pdfHochgeladen vonoscar201140
- Adaptive Control of a Flexible Robot Using Fuzzy LogicHochgeladen vonoscar201140
- Adaptive Position Force Control for Robot Manipulator in Contact With a Flexible Environment_2017Hochgeladen vonoscar201140
- Active Vibration Control With Modified Positive Position FeedbackHochgeladen vonoscar201140
- Active Vibration Control of a Flexible Link Robot With MPC_2012Hochgeladen vonoscar201140
- A Vibration Abosortion Method for Alleviation Impact of Flexible Robotic Arm_asmeHochgeladen vonoscar201140
- Control of Vibration in Civil StructuresHochgeladen vonoscar201140
- Vibration Control of Spacecraft Box Structures Using a Collocated Piezo-Actuator SensorHochgeladen vonoscar201140

- KeunsooHa DissertationHochgeladen vonmounicapaluru_351524
- PEL-J3805-ITP-01.pdfHochgeladen vonGeorge Morris
- Challenges 4, Module 10 Lesson 4 Bosnian Culture BankHochgeladen vonHodžić Nisveta
- Lecture17 SpectroscopyHochgeladen vonShailendra Agarwal
- SONEX FittingsHochgeladen vonviorelu99
- Yazoo - Only YouHochgeladen vonvasilisc
- Ngk Pkw Catalogue 2011-2012 EnglishHochgeladen vonclaudiu_ddu8657
- 3M Filter Selection SheetHochgeladen vonAnonymous mq0U43UsP
- Beef Cattle Production and Wealth Creation: Evidence from Improved Boran Cattle and Crosses, Lanet, KenyaHochgeladen vonPremier Publishers
- Deegan Chapter 01Hochgeladen vonMoh Ramdhan Arif Kaluku
- Idef4.pdfHochgeladen vonFrancisco Xavier
- Basic SuperalloysHochgeladen vonvasea
- A Global Estimative RO DesalinationHochgeladen vonCidália Sampaio
- Outcome3Hochgeladen vonDanhceo
- Multi Tier System of SupportHochgeladen vonPaul Sarsfield
- Ir Hj Anuar Mohd Mokhtar - Dosh MalaysiaHochgeladen vonakubestlah
- OmniCure R2000 UserGuide EnglishHochgeladen vonNick Ngo
- ahmedabad regional passport office caseHochgeladen vonmanojverma231988
- weebly english teacher resume 2018Hochgeladen vonapi-356295823
- YouTube Creator Playbook.pdfHochgeladen vondorje@blueyonder.co.uk
- Media GuideHochgeladen vonscibdlauren
- Waukesha Ltc TheoryHochgeladen vonElafan
- Saba Centra 7.6 Symposium Leader Quick Reference CardHochgeladen vonKonstantinos K.
- Lecture on Media and Information LiteracyHochgeladen vonRonald U. Wacas
- Destination Brand IdentityHochgeladen vonAditya MIshra
- Rochester Analog Transducer Data SheetHochgeladen vonRick Jordan
- Garritan Jazz & Big Band 3 ManualHochgeladen vonGarritan
- Know your Electric Pedestal FansHochgeladen vonAlokojjal Banerjee
- Homework 1Hochgeladen vonAnh Hoai Nguyen
- Insert Into DrugHochgeladen vondudie

## Viel mehr als nur Dokumente.

Entdecken, was Scribd alles zu bieten hat, inklusive Bücher und Hörbücher von großen Verlagen.

Jederzeit kündbar.