Delayed reference control for multi-degree-of-freedom elastic systems: Theory and experimentation

作者：Boschetti G; Richiedei D; Trevisani A^*

来源：Control Engineering Practice, 2011, 19(9): 1044-1055.

DOI：10.1016/j.conengprac.2011.05.006

• Delayed reference control
• Vibration control
• Coordinated motion
• Path tracking
• Robotic crane

The objective of this paper is to provide an experimental proof of the effectiveness and ease of implementation of a non-time based control strategy for the simultaneous active vibration control and path tracking of multi-degree-of-freedom linear systems. What is peculiar in the proposed scheme, named DRC, is that it allows reducing elastic vibrations while guaranteeing coordinated motion among the system rigid-body degrees of freedom, and hence the accurate tracking of desired paths through space. The DRC is here applied to damp the oscillation of a load suspended to the moving platform of an Adept Quattro parallel robot by means of a cable.

• 出版日期2011-9