Optimal motion control and vibration suppression of flexible systems with inaccessible outputs

Islam S.M. Khalil; B. Celebi; G. Cevik; E. Globovic; B. Mehmet; Asif Sabanovic

doi:10.1109/ICMECH.2011.5971344

Optimal motion control and vibration suppression of flexible systems with inaccessible outputs

Islam S.M. Khalil^*
, B. Celebi
, G. Cevik
, E. Globovic
, B. Mehmet
, Asif Sabanovic

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

This work addresses the optimal control problem of dynamical systems with inaccessible outputs. A case in which dynamical system outputs cannot be measured or inaccessible. This contradicts with the nature of the optimal controllers which can be considered without any loss of generality as state feedback control laws for systems with linear dynamics. Therefore, this work attempts to estimate dynamical system states through a novel state observer that does not require injecting the dynamical system outputs onto the observer structure during its design. A linear quadratic optimal control law is then realized based on the estimated states which allows controlling motion along with active vibration suppression of this class of dynamical systems with inaccessible outputs. Validity of the proposed control framework is evaluated experimentally.

Original language	English
Title of host publication	Proceedings 2011 IEEE International Conference on Mechatronics (ICM)
Place of Publication	Piscataway
Publisher	IEEE
Pages	534-539
Number of pages	6
ISBN (Electronic)	978-1-61284-985-0
ISBN (Print)	978-1-61284-982-9, 978-1-61284-984-3 (CD)
DOIs	https://doi.org/10.1109/ICMECH.2011.5971344
Publication status	Published - 2011
Externally published	Yes
Event	IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey Duration: 13 Apr 2011 → 15 Apr 2011

Conference

Conference	IEEE International Conference on Mechatronics, ICM 2011
Abbreviated title	ICM 2011
Country/Territory	Turkey
City	Istanbul
Period	13/04/11 → 15/04/11

Keywords

Action-reaction state observer
Motion control
Reaction force observer
Vibration suppression
n/a OA procedure

Access to Document

10.1109/ICMECH.2011.5971344

Cite this

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title = "Optimal motion control and vibration suppression of flexible systems with inaccessible outputs",

abstract = "This work addresses the optimal control problem of dynamical systems with inaccessible outputs. A case in which dynamical system outputs cannot be measured or inaccessible. This contradicts with the nature of the optimal controllers which can be considered without any loss of generality as state feedback control laws for systems with linear dynamics. Therefore, this work attempts to estimate dynamical system states through a novel state observer that does not require injecting the dynamical system outputs onto the observer structure during its design. A linear quadratic optimal control law is then realized based on the estimated states which allows controlling motion along with active vibration suppression of this class of dynamical systems with inaccessible outputs. Validity of the proposed control framework is evaluated experimentally.",

keywords = "Action-reaction state observer, Motion control, Reaction force observer, Vibration suppression, n/a OA procedure",

author = "Khalil, \{Islam S.M.\} and B. Celebi and G. Cevik and E. Globovic and B. Mehmet and Asif Sabanovic",

year = "2011",

doi = "10.1109/ICMECH.2011.5971344",

language = "English",

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pages = "534--539",

booktitle = "Proceedings 2011 IEEE International Conference on Mechatronics (ICM)",

publisher = "IEEE",

address = "United States",

note = "IEEE International Conference on Mechatronics, ICM 2011, ICM 2011 ; Conference date: 13-04-2011 Through 15-04-2011",

}

Khalil, ISM, Celebi, B, Cevik, G, Globovic, E, Mehmet, B & Sabanovic, A 2011, Optimal motion control and vibration suppression of flexible systems with inaccessible outputs. in Proceedings 2011 IEEE International Conference on Mechatronics (ICM)., 5971344, IEEE, Piscataway, pp. 534-539, IEEE International Conference on Mechatronics, ICM 2011, Istanbul, Turkey, 13/04/11. https://doi.org/10.1109/ICMECH.2011.5971344

Optimal motion control and vibration suppression of flexible systems with inaccessible outputs. / Khalil, Islam S.M.; Celebi, B.; Cevik, G. et al.
Proceedings 2011 IEEE International Conference on Mechatronics (ICM). Piscataway: IEEE, 2011. p. 534-539 5971344.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Optimal motion control and vibration suppression of flexible systems with inaccessible outputs

AU - Khalil, Islam S.M.

AU - Celebi, B.

AU - Cevik, G.

AU - Globovic, E.

AU - Mehmet, B.

AU - Sabanovic, Asif

PY - 2011

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AB - This work addresses the optimal control problem of dynamical systems with inaccessible outputs. A case in which dynamical system outputs cannot be measured or inaccessible. This contradicts with the nature of the optimal controllers which can be considered without any loss of generality as state feedback control laws for systems with linear dynamics. Therefore, this work attempts to estimate dynamical system states through a novel state observer that does not require injecting the dynamical system outputs onto the observer structure during its design. A linear quadratic optimal control law is then realized based on the estimated states which allows controlling motion along with active vibration suppression of this class of dynamical systems with inaccessible outputs. Validity of the proposed control framework is evaluated experimentally.

KW - Action-reaction state observer

KW - Motion control

KW - Reaction force observer

KW - Vibration suppression

KW - n/a OA procedure

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M3 - Conference contribution

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BT - Proceedings 2011 IEEE International Conference on Mechatronics (ICM)

PB - IEEE

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T2 - IEEE International Conference on Mechatronics, ICM 2011

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ER -

Optimal motion control and vibration suppression of flexible systems with inaccessible outputs

Abstract

Conference

Keywords

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