Title:
Transfer functions of flexible beams and implication of flexibilty on controller performance

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dc.contributor.author Cetinkunt, Sabri en_US
dc.contributor.author Book, Wayne J. en_US
dc.contributor.corporatename University of Illinois at Chicago. Dept. of Mechanical Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2011-06-24T18:20:10Z
dc.date.available 2011-06-24T18:20:10Z
dc.date.issued 1994
dc.description ©1994 American Institute of Aeronautics and Astronautics. en_US
dc.description.abstract Dynamic behavior of many mechanical motion systems having distributed flexibility are described by linear partial differential equations, i.e. flexible beams, satellite appendages, plates. Understanding the open loop transfer function (poles, zeros, d.c. gain) is a prerequisite for a successful controller design. The open loop pole-zero patterns of a flexible beam (using its infinite dimensional model) are studied as a function of actuator and sensor locations. The physics of the flexible beam dynamics is discussed in order to explain the physical source and the meaning of zeros, and its implications in terms, of the limitations imposed on the maximum closed loop bandwidth achievable. Although the actual system dynamics involve an infinite number of modes, finite dimensional models are needed for the design of a real time controller. The accuracy of finite dimensional models using different mode shapes are compared from a controller design point of view. en_US
dc.identifier.citation Cetinkunt, S. and W.J. Book, "Transfer Functions of Flexible Beams and Implications of Flexibility on Controller Performance," Telerobotics and Robotics in Space, S.B. Skaar, C.F. Rupff, American Institute of Aeronautics and Astronautics. Progress in Astronautics and Aeronautics, Vol. 161, 1994, pp. 291-314. en_US
dc.identifier.issn 0079-6050
dc.identifier.uri http://hdl.handle.net/1853/39334
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original American Institute of Aeronautics and Astronautics en_US
dc.subject Flexible beams en_US
dc.subject Linear partial differential equations en_US
dc.subject Control systems en_US
dc.title Transfer functions of flexible beams and implication of flexibilty on controller performance en_US
dc.type Text
dc.type.genre Article
dspace.entity.type Publication
local.contributor.author Book, Wayne J.
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
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relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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