Event Details
A System Theory-Based Control of Mechatronic Systems with Application to Active Vibration Control utilizing Nanotube-based Actuators and Sensors
Presenter: Nader Jalili - Robotics and Mechatronics (RAM) Laboratory, Department of Mechanical Engineering, Clemson University, Clemson, South Carolina
Supervisor:
Date: Mon, June 3, 2002
Time: 14:00:00 - 15:00:00
Place: EOW 430
ABSTRACT
Abstract:
A system theory-based control approach to mechatronic systems is presented, followed by a discussion on some new developments and directions currently being studied at RAM. The first part of the presentation describes the design and implementation of a nonlinear adaptive disturbance-rejection/vibration-control approach for single-input-single-output (SISO) linear-time-invariant (LTI) uncertain systems subject to sinusoidal disturbances with unknown amplitude and frequency. Utilizing only the system output, a virtual control input is used in place of non-measurable and unknown signals. The performance of the adaptation algorithm is demonstrated through simulations on a two-degree-of-freedom (2DOF) system, representing a mass-spring-damper vibration absorber setting appended on an uncertain SDOF primary system.
Utilizing findings of the first part and foreseeing the trend of recent research initiatives, several lines of activities have been identified and currently being studied at RAM. The second part of the presentation briefly discusses these topics, which are classified into two general groups: 1) Next Generation Actuators and Sensors utilizing nanotube composites (pathways to the development of nano-motors), and 2) Improved Atomic Force Microscope (AFM) Imaging via a systems based estimation scheme with application to biological species. A promising future for such research areas is the development of precision lightweight automated systems and micromanipulators with their widespread applications in automotive, medical and bio technologies.