Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
ACTIVE CONTROL OF OSCILLATIONS IN A BEAM USING ACTUATION BY MACRO FIBER COMPOSITES AND OPTIMAL CONTROL
Submission Author:
Arthur Barbosa , SP
Co-Authors:
Lucas Zanovello Tahara, Arthur Barbosa, Maíra Martins da Silva
Presenter: Lucas Zanovello Tahara
doi://10.26678/ABCM.COBEM2021.COB2021-0200
Abstract
This research aims to develop a model in the state-space of a flexible beam under piezoelectric actuation, which can be actively controlled using an optimal control strategy. Robotics in recent years has been developing at an accelerated rate, especially in areas of robotics that aim at the interaction between humans and robots more safely. Under this context, soft robotics emerged to propose robots that need unstructured environments, which goes against traditional robotics. This research proposes a mathematical model of a beam with actuators that follow soft robotics' premises: high deformation capacity and low rigidity. The obtained simulations showed that, at the price of the increase in computational cost, the output reaches the desired references, which opens possibilities for using this type of system in robots that require high deformations. The use of MFCs proved to be efficient for the performance of soft systems, and the control strategy adopted allowed the optimization of inputs according to the desired outputs. The simulation algorithm's construction was done using the Python programming language, which allowed the generalization of the algorithm for future work involving systems control under state-space formulation.
Keywords
Optimal Control, Macro Fiber Composites, Euler-Bernoulli beam, Active control, oscillation control
