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- W2811232316 abstract "Modern, innovative structures often rely on auxiliary control devices to suppress excessive vibrations. Currently, most control devices are permanent installations designed specifically for the intended structure and further tuned to a particular structural property. The concept of a deployable, autonomous control system (DACS) is proposed herein where the notion of deployability implies the system can be rapidly implemented on a range of structures while the autonomy aspect facilitates real-time positioning of the system and generation of active control forces. A small-scale prototype targeting short-term control applications of lightweight structures is presented. The prototype consists of an electromagnetic mass damper (EMD), unmanned ground vehicle (UGV) equipped with vision sensors, and computational hardware. The UGV transfers inertial control forces generated by the EMD through the tires which eliminates the need for a rigid connection to the structure and enables rapid deployment for short-term applications. A simultaneous localization and mapping (SLAM) solution utilizing the mobility of the UGV and on-board vision sensors facilitates autonomous positioning of the device at desired locations on the structure. This study investigates the role of control-structure interaction (CSI) by examining the effect of base motion on the position controlled EMD and interaction between the structural response and UGV dynamics. Different controller formulations are presented and comparatively assessed to illustrate the inherent interaction effects. Experimental results confirm CSI has a negligible impact on EMD position tracking while demonstrating the importance of considering UGV dynamics in the controller formulation." @default.
- W2811232316 created "2018-07-10" @default.
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- W2811232316 date "2018-06-12" @default.
- W2811232316 modified "2023-09-27" @default.
- W2811232316 title "The Role of Control-Structure Interaction in Deployable Autonomous Control Systems" @default.
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- W2811232316 doi "https://doi.org/10.1007/978-3-319-74421-6_40" @default.
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