Title
Vision Based Flexible Beam Tip Point Control
Keywords
Flexible beam; Robust control; Sliding mode control; Vibration control; Vision based control
Abstract
Because of the light weight and less wear and tear on components, the flexible beam has been and will continue to be an appealing option for civil and military applications. However, flexibility brings with it unwanted oscillations and severe chattering which may even lead to an unstable system. To tackle these challenges, a two-time scale controller is presented to track a desired tip point signal and at the same time mitigate the tip point vibration. To obtain more precise information of the tip point location and facilitate the easy extension to multiple-flexible-link problems, a camera is used to provide vision feedback in which the delayed vision signal is compensated by the state estimator and predictor. The controller is experimentally verified, and shown to exceed the performance of other tested controllers. © 2009 AACC.
Publication Date
11-23-2009
Publication Title
Proceedings of the American Control Conference
Number of Pages
5277-5282
Document Type
Article; Proceedings Paper
Personal Identifier
scopus
DOI Link
https://doi.org/10.1109/ACC.2009.5159964
Copyright Status
Unknown
Socpus ID
70449640292 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/70449640292
STARS Citation
Xu, Yunjun and Ritz, Erich, "Vision Based Flexible Beam Tip Point Control" (2009). Scopus Export 2000s. 11483.
https://stars.library.ucf.edu/scopus2000/11483