Development of Discrete Mechanics for Distributed Parameter Mechanical Systems and Its Application to Vibration Suppression Control of a String

Tatsuya Kai, Kouhei Yamaki, Shunpei Koike

2016

Abstract

In this study, a new stabilization method by blending discrete mechanics and nonlinear optimization for 1- dimensional distributed parameter mechanical systems is developed. Discrete mechanics is a kind of numerical solutions for distributed parameter mechanical systems and it is known that it has some advantages in terms of numerical errors and preserving property of the original systems. First, for discrete Euler-Lagrange equations with control inputs, we formulate a nonlinear optimal control problem with constraints by setting an objective function, and initial and boundary conditions. Then, it is shown that the problem is represented as a finite-dimensional nonlinear optimal problem with constraints and it can be solved by the sequential quadratic programming method. After that, a vibration suppression control problem for a string is dealt with as a physical example. As a result, it can be confirmed that vibration of the string is suppressed and the whole of the system is stabilized by the proposed new method.

References

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Paper Citation


in Harvard Style

Kai T., Yamaki K. and Koike S. (2016). Development of Discrete Mechanics for Distributed Parameter Mechanical Systems and Its Application to Vibration Suppression Control of a String . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-198-4, pages 492-498. DOI: 10.5220/0005978204920498


in Bibtex Style

@conference{icinco16,
author={Tatsuya Kai and Kouhei Yamaki and Shunpei Koike},
title={Development of Discrete Mechanics for Distributed Parameter Mechanical Systems and Its Application to Vibration Suppression Control of a String},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2016},
pages={492-498},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005978204920498},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Development of Discrete Mechanics for Distributed Parameter Mechanical Systems and Its Application to Vibration Suppression Control of a String
SN - 978-989-758-198-4
AU - Kai T.
AU - Yamaki K.
AU - Koike S.
PY - 2016
SP - 492
EP - 498
DO - 10.5220/0005978204920498