Optimal actuator\sensor placement and controller design for large flexible space structures and robotics

Soufian, M.; Borairi, M.

Abstract

This paper emphasizes the characterization of the dynamic motions of large flexible space structures (LFSS) and robotic arms in terms of poles and zeros, in order to develops a computational scheme for optimization of actuator and sensor locations. The importance and dependence of the transmission zeros of the open-loop systems on the actuators and sensor locations are discussed. The uses of Genetic Algorithms (GAs) for the optimal placement of the collocated actuators and sensors of such plants are presented. The role of computational scheme using GAs in providing a direct and uncomplicated synthesis technique for the design and development of active controllers for LFSS are also demonstrated. The performance of such genetically designed active controllers is addressed by considering integral-square-error (ISE) as the ultimate design requirement. The effectiveness of this methodology is illustrated by application to a simple cantilever beam example.

Citation

Soufian, M., & Borairi, M. (2017, June). Optimal actuator\sensor placement and controller design for large flexible space structures and robotics. Presented at 2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)
• Start Date: Jun 19, 2017
• End Date: Jun 21, 2017
• Acceptance Date: Mar 13, 2017
• Online Publication Date: Aug 8, 2017
• Publication Date: Aug 8, 2017
• Deposit Date: May 12, 2017
• Print ISSN: 0018-9219
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Series ISSN: 2163-5145
• Book Title: 26th IEEE International Symposium on Industrial Electronics (ISIE17)
• ISBN: 9781509014125
• DOI: https://doi.org/10.1109/isie.2017.8001450
• Keywords: Transmission zeros, collocated actuator and sensor, Optimaisation, Genetic Design, Active Control
• Public URL: http://researchrepository.napier.ac.uk/Output/836713