Title:
Experiments in Optimal Control of a Flexible Arm with Passive Damping

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Alberts, Thomas Edward
Hastings, Gordon Greene
Book, Wayne J.
Dickerson, Stephen L.
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Abstract
This paper presents a hybrid active and passive control scheme for control ling the motion of a lightweight flexible arm. A straightforward development of LaGrange's equations using a series expansion of assumed flexible modes provides a time domain model for controller design. The active controller design was approached as a steady state linear quadratic continuous regulator. A constrained viscoelastic layer treatment was employed to achieve passive damping. The passive damping treatment serves to enhance the system's stability while providing sound justification for the use of a highly truncated dynamic model and reduced order controller. Initial experimental results comparing controller performance with and without passive damping demonstrate the merit of the proposed combined active/passive approach.
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1985-06
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