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Using linear programming for the optimal control of a cartpendulum system
(2011-01-05) PUGLIA, L. V.; Fabrizio Leonardi; Marko Ackermann
This paper discusses the use of linear programming for the optimal control of a cart pendulum system. The objective function and the constraints are designed to minimize the control effort and the time duration of the operation. Simulations and experimental tests were performed. Restrictions of null angle and angular velocity at the extremes were incorporated in the design specification as well as other physical constraints. In order to compensate for the modeling errors and disturbances, the optimal trajectory was kept within a prescribed precision by means of a closed loop system. The obtained results illustrate that the technique is simple, powerful and always conclusive.
Using linear programming for the optimal control of a cartpendulum system
(2011) PUGLIA, L. V.; Fabrizio Leonardi; Marko Ackermann
This paper discusses the use of linear programming for the optimal control of a cart pendulum system. The objective function and the constraints are designed to minimize the control effort and the time duration of the operation. Simulations and experimental tests were performed. Restrictions of null angle and angular velocity at the extremes were incorporated in the design specification as well as other physical constraints. In order to compensate for the modeling errors and disturbances, the optimal trajectory was kept within a prescribed precision by means of a closed loop system. The obtained results illustrate that the technique is simple, powerful and always conclusive.
Reducing vibrations on flexible rotating arms through the movement of sliding masses: Modeling, optimal control and simulation
(2012-01-05) TERCEIRO, E.; FLEURY, A. T.
This paper brings contributions on the proposal of use of translational motions of sliding masses to minimize vibrations induced by the rotational motion of a light flexible manipulator (rotating arm). This system is inspired by rotating cranes used to transport loads. Optimal control methods have been used to generate the slider trajectories while the flexible manipulator performs a rotational maneuver from a fixed to other fixed configuration. This approach has led to good solutions even in case of quite quick maneuvers, as, for example, a 90° beam rotation in just 1 second, using 1 or 2 sliders (Terceiro, 2002). In the present paper, the complete motion equations for any number of masses are firstly presented, in order to emphasize the complexity of the coupled elastic-rotational-translational motions. Simplifying assumptions are pointed out and the corresponding optimal control problems (OCP) are obtained. Optimal trajectories, generated according to different Indexes of Performance and different problem parameters, are analysed and compared in order to get feasible movements for the set.
Reducing vibrations on flexible rotating arms through the movement of sliding masses: Modeling, optimal control and simulation
(2012-09-19) TERCEIRO, E.; FLEURY, A. DE. T.
This paper brings contributions on the proposal of use of translational motions of sliding masses to minimize vibrations induced by the rotational motion of a light flexible manipulator (rotating arm). This system is inspired by rotating cranes used to transport loads. Optimal control methods have been used to generate the slider trajectories while the flexible manipulator performs a rotational maneuver from a fixed to other fixed configuration. This approach has led to good solutions even in case of quite quick maneuvers, as, for example, a 90o beam rotation in just 1 second, using 1 or 2 sliders (Terceiro, 2002). In the present paper, the complete motion equations for any number of masses are firstly presented, in order to emphasize the complexity of the coupled elastic-rotational-translational motions. Simplifying assumptions are pointed out and the corresponding optimal control problems (OCP) are obtained. Optimal trajectories, generated according to different Indexes of Performance and different problem parameters, are analysed and compared in order to get feasible movements for the set.

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