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Title of Journal: Nonlinear Dyn

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Abbravation: Nonlinear Dynamics

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Springer Netherlands

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DOI

10.1007/bf02806131

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1573-269X

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Quasitimeoptimal controller design for a rigidf

Authors: Ti Chen Hao Wen Haiyan Hu Dongping Jin
Publish Date: 2016/12/17
Volume: 88, Issue: 1, Pages: 623-633
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Abstract

Previous studies have shown that the absolute coordinatebased formulation is an accurate modeling approach for the rigidflexible multibody system subject to both large rotation and large deformation However it is almost impossible to design the complex controller for a rigidflexible multibody system via the absolute coordinatebased formulation because of its high dimensions The primary aim of this study is to design a quasioptimal controller for a rigidflexible multibody system via the absolute coordinatebased formulation The design procedure includes two steps As the first step the simplified model for a rigidflexible multibody system is established via the floating frame of reference formulation first and then a timeoptimal controller is designed for the simplified model by using the Gauss pseudospectral method In the second step a quasitimeoptimal closedloop tracking controller is achieved for the absolute coordinatebased formulation of the rigidflexible multibody system by superposing a PD controller to track the predesigned optimal trajectory The paper presents two case studies for a hubbeam system where only the motion of the rigid part is observable and driven The numerical results of the two case studies well verify the effectiveness of the proposed controller

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