Course Details

Time and Place:

T,R 11:00 PM to 12:20 PM in Baldy 126

Office Hours:

Drop in anytime during my office hours, which are T,R at 4:00-5:00 pm. Otherwise call to make an appointment, or contact me via e-mail:

Office: 1009 Furnas Hall, Office Tel: 645-2593 x2235.

Description:

The topics covered in this course include: Review of modeling of lumped parameter systems, eigenvalue/eigenvector analysis, resonse of underdamped systems. Prefilter design for vibration control of point-to-point motion of vibratory systems. Introduction to the concept of sensitivity and robust prefilter design. Minimax prefilter design for robust vibration control. Review of LQR for vibratory systems. Review of optimal control and its application to the design of time-optimal, fuel/time optimal, jerk limited time-optimal controllers for rest-to-rest maneuvers of flexible structures. Design of robust LQR controller. Numerical techniques for solving prefilter design. Design of rest-to-rest motion controllers for vibratory systems subject to friction.

Objectives:

There are numerous applications where the residual vibration of the system has to be dissipated prior to its use. For instance, the repositioning of the read/write head of a hard disk drive requires minimal vibration of the head to permit reading or writing to the cylinders of the disk. In the movement of freight by cranes, the sway motion of the pendulum had to be minimized prior to relocating the freight. In all such applications model based controllers are normally used. However, modeling errors or variations in system parameters can lead to deterioration of the performance of the controllers. There is thus a desire to design controllers which are robust to modeling uncertainties. The objective of this course is to introduce the students to some of techniques which have been recently developed for the robust vibration control of slewing (maneuvering) structures.

Prerequisites:

MAE 571/Permission of Instructor.

Textbook:

Class Notes ,

Homework:

Homeworks will be periodically assigned, which are due one week from the day they are assigned. Late homeworks will not be accepted and solutions to the homeworks will be discussed in class.

Project:

The student selects a project topic by the end of the fourth week in consultation with the instructor. The problem could be related to the student's thesis/dissertation topic. A final project report at the end of the term is also required which will include a detailed literature review of the problem in question.

References:

Junkins J. and Kim Y., Introduction to Dynamics and control of Flexible Structures , AIAA Educational Series, Washington DC, 1992.
Meirovitch L. L., Dynamics and Control of Structures , Wiley.
AIAA Journal of Guidance, Control and Dynamics
ASME Journal for Dynamic Systems, Measurement and Control
International Journal of Control

Important Dates