Imperial College London
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DrAndrewWynn

Faculty of Engineering, Department of Aeronautics

Reader in Control and Optimization
 
 
 
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Contact

 

+44 (0)20 7594 5047a.wynn Website

 
 
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Location

 

340City and Guilds BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Artola:2021:10.1016/j.ifacol.2020.12.1302,
author = {Artola, M and Wynn, A and Palacios, R},
doi = {10.1016/j.ifacol.2020.12.1302},
pages = {7472--7478},
publisher = {Elsevier},
title = {Modal-based model predictive control of multibody very flexible structures},
url = {http://dx.doi.org/10.1016/j.ifacol.2020.12.1302},
year = {2021}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - A model predictive control strategy for flexible multibody structures undergoing large deformations is presented. The dynamics of such structures are highly nonlinear, with local effects introduced by the joint constraints and distributed effects arising from the structure’s increased flexibility, from which arbitrary large deflections and rotations can be expected. A modal-based nonlinear reduced order model of an intrinsic description (based on velocities and strains) of geometrically-exact beams is used to underpin the internal model. This low-order model, constructed using the linearised eigenfunctions of the constrained structures, is a set of nonlinear ordinary differential equations in time (i.e. no algebraic equations are present) thus facilitating analysis and demonstrating successful control. Numerical examples are presented based on a very flexible hinged two-link manipulator.
AU  - Artola,M
AU  - Wynn,A
AU  - Palacios,R
DO  - 10.1016/j.ifacol.2020.12.1302
EP  - 7478
PB  - Elsevier
PY  - 2021///
SN  - 2405-8963
SP  - 7472
TI  - Modal-based model predictive control of multibody very flexible structures
UR  - http://dx.doi.org/10.1016/j.ifacol.2020.12.1302
UR  - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000652593000488&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR  - https://www.sciencedirect.com/science/article/pii/S2405896320317043?via%3Dihub
UR  - http://hdl.handle.net/10044/1/90908
ER  -
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