Original scientific paper

Motion Control and Vibration Suppression of Flexible Lumped Systems via Sensorless LQR Control

Besir Celebi ; Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey
Gülnihal Cevik ; Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey
Berkem Mehmet ; University of Illinois at Urbana – Champaign, IL 61801, USA
Islam S.M. Khalil ; Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey
Asif Sabanovic orcid.org/0000-0002-2783-9354 ; Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey

Abstract

This work attempts to achieve motion control along with vibration suppression of flexible systems by developing a sensorless closed loop LQR controller. Vibration suppression is used as a performance index that has to be minimized so that motion control is achieved with zero residual vibration. An estimation algorithm is combined with the regular LQR to develop sensorless motion and vibration controller that is capable of positioning multi degrees of freedom flexible system point of interest to a pre-specified target position with zero residual vibration. The validity of the proposed controller is verified experimentally by controlling a sensorless dynamical system with finite degrees of freedom through measurements taken from its actuator.

Keywords

Sensorless control; Vibration suppression; Reaction force observer; Optimal control; Action reaction state observer

Hrčak ID:

65054

URI

https://hrcak.srce.hr/65054

Publication date:

10.3.2011.

Article data in other languages: croatian

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