This note presents a modification of the integrated friction model structure proposed by Swevers et al. (2000), called the Leuven model. The Leuven model structure allows accurate modeling both in the presliding and the sliding regimes without the use of a switching function. The model incorporates a hysteresis function with nonlocal memory and arbitrary transition curves. This note presents two modifications of the Leuven model. A first modification overcomes a recently detected shortcoming of the original Leuven model: a discontinuity in the friction force which occurs during certain transitions in presliding. A second modification, using the general Maxwell slip model to implement the hysteresis force, eliminates the problem of stack overflow, which can occur with the implementation of the hysteresis force.

Technical Note: modification of the Leuven integrated friction model structure

This article presents in a unified way, the various optimization criteria used by researchers for optimal placement of piezoelectric sensors and actuators on a smart structure. The article discusses optimal placement of piezoelectric sensors and actuators based upon six criteria: (i) maximizing modal forces/moments applied by piezoelectric actuators, (ii) maximizing deflection of the host structure, (iii) minimizing control effort/maximizing energy dissipated, (iv) maximizing degree of controllability, (v) maximizing degree of observability, and (vi) minimizing spill-over effects. Optimal piezoelectric sensor and actuator locations on beam and plate structures for each criterion and modes of interest are presented in a tabular form. This technical review has two objectives: (i) practicing engineers can pick the most suitable philosophy for their end application and (ii) researchers can come to know about potential gaps in this area.

Optimization Criteria for Optimal Placement of Piezoelectric Sensors and Actuators on a Smart Structure: A Technical Review

This book is a companion text to Active Control of Sound by P.A. Nelson and S.J. Elliott, also published by Academic Press. It summarizes the principles underlying active vibration control and its practical applications by combining material from vibrations, mechanics, signal processing, acoustics, and control theory. The emphasis of the book is on the active control of waves in structures, the active isolation of vibrations, the use of distributed strain actuators and sensors, and the active control of structurally radiated sound. The feedforward control of deterministic disturbances, the active control of structural waves and the active isolation of vibrations are covered in detail, as well as the more conventional work on modal feedback. The principles of the transducers used as actuateors and sensors for such control strategies are also given an in-depth description. The reader will find particularly interesting the two chapters on the active control of sound radiation from structures: active structural acoustic control. The reason for controlling high frequency vibration is often to prevent sound radiation, and the principles and practical application of such techniques are presented here for both plates and cylinders. The volume is written in textbook style and is aimed at students, practicing engineers, and researchers.

Active control of vibration, 1st edition

Over the last few decades, extensive use of flexible manipulators in various robotic applications has made it as one of the research interests for many scholars over the world. Recent studies on the modeling, sensor systems and controllers for the applications of flexible robotic manipulators are reviewed in order to complement the previous literature surveyed by Benosman & Vey (Robotica 22:533---545, 2004) and Dwivedy & Eberhard (Mech. Mach. Theory 41:749---777, 2006) . A brief introduction of the essential modeling techniques is first presented, followed by a review of the practical alternatives of sensor systems that can help scientists or engineers to choose the appropriate sensors for their applications. It followed by the main goal of this paper with a comprehensive review of the control strategies for the flexible manipulators and flexible joints that were studied in recent literatures. The issues for controlling flexible manipulators are highlighted. Most of the noteworthy control techniques that were not covered in the recent surveys in references (Benosman & Vey Robotica 22:533---545, 2004; Dwivedy & Eberhard Mech. Mach. Theory 41:749---777, 2006) are then reviewed. It concludes by providing some possible issues for future research works.

Review of Control and Sensor System of Flexible Manipulator

This brief considers the control design problem for a flexible robotic manipulator. Our control strategies are to: 1) move the manipulator to the certain desired angle; 2) suppress the vibration at the neighborhood of the desired angle; and 3) handle the backlash nonlinearity existing in the practical system. Based on the infinite-dimensional dynamic model, a boundary controller with input backlash is designed to achieve the control aims. An output feedback method is adopted to represent a controller to handle the feedback signals that are not able to be measured directly. The effectiveness of the designed controllers and the stability of the system are demonstrated by theoretical analysis, numerical simulations, and physical experiments.

PDE Model-Based Boundary Control Design for a Flexible Robotic Manipulator With Input Backlash

Optimal placement and active vibration control for piezoelectric smart flexible cantilever plate

Active vibration control of a flexible beam using a non-collocated acceleration sensor and piezoelectric patch actuator

Space manipulators are flexible structures. Vibration problem will be unavoidable due to motion or external disturbance excitation. Model based control methods will not maintain the required accuracy because of the existence of nonlinear factors and parameter uncertainties. To solve these problems, fuzzy logic control laws with different membership function groups are adopted to suppress vibrations of a flexible smart manipulator using collocated piezoelectric sensor/actuator pair. Also, dual-mode controllers combining fuzzy logic and proportional integral control are designed, for suppressing the lower amplitude vibration near the equilibrium point significantly. Experimental comparison research is conducted, using fuzzy control algorithms and the dual-mode controllers with different membership functions. The experimental results show that the adopted fuzzy control algorithms can substantially suppress the larger amplitude vibration; and the dual-mode controllers can also damp out the lower amplitude vibration significantly. The experimental results demonstrate that the proposed fuzzy controllers and dual-mode controllers can suppress vibration effectively, and the optimal placement is feasible.

Qiu Zhicheng

Papers

Optimal placement and active vibration control for piezoelectric smart flexible cantilever plate

Active vibration control of a flexible beam using a non-collocated acceleration sensor and piezoelectric patch actuator

Experimental Comparison Research on Active Vibration Control for Flexible Piezoelectric Manipulator Using Fuzzy Controller

Acceleration sensors based modal identification and active vibration control of flexible smart cantilever plate

Fuzzy fast terminal sliding mode vibration control of a two-connected flexible plate using laser sensors