Many dynamical systems use transducers that can function both as actuators and sensors. It is possible to continuously switch the functionality of the transducer elements in such systems and effectively use each element both as an actuator and a sensor. This provides the scope for significantly reducing the number of transducer elements required for complete controllability and observability of the system and hence reduce the hardware required for controlled system operation. In this paper we advocate underactuation and undersensing in dynamical systems with the objective of reducing cost, weight, and system complexity. To this end, we first illustrate the role of switching in enhancing controllability and observability in underactuated and undersensed linear time-invariant systems and determine the switching requirement for observer-based control designs. For a proof of principle, we consider the problem of vibration suppression in a flexible beam instrumented with piezoelectric transducers. Using simulation and experiments, we demonstrate feasibility of switching the piezoelectric elements between actuator and sensor modalities and establish the merit of introducing underactuation and undersensing deliberately.
Skip Nav Destination
mukherji@egr.msu.edu
Article navigation
December 2004
Article
Enhancing Controllability and Observability in Underactuated and Undersensed Systems Through Switching: Application to Vibration Control
Shahin S. Nudehi,
Shahin S. Nudehi
Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824-1226
Search for other works by this author on:
Ranjan Mukherjee, Assoc. Professor
mukherji@egr.msu.edu
Ranjan Mukherjee, Assoc. Professor
Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824-1226
Search for other works by this author on:
Shahin S. Nudehi
Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824-1226
Ranjan Mukherjee, Assoc. Professor
Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824-1226
mukherji@egr.msu.edu
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division September 18, 2003; final revision, June 8, 2004. Review conducted by: S. Devasia.
J. Dyn. Sys., Meas., Control. Dec 2004, 126(4): 790-799 (10 pages)
Published Online: March 11, 2005
Article history
Received:
September 18, 2003
Revised:
June 8, 2004
Online:
March 11, 2005
Citation
Nudehi , S. S., and Mukherjee, R. (March 11, 2005). "Enhancing Controllability and Observability in Underactuated and Undersensed Systems Through Switching: Application to Vibration Control ." ASME. J. Dyn. Sys., Meas., Control. December 2004; 126(4): 790–799. https://doi.org/10.1115/1.1850532
Download citation file:
Get Email Alerts
Cited By
Hybrid Kinematic-dynamic Sideslip and Friction Estimation
J. Dyn. Sys., Meas., Control
Koopman Model Predictive Control of an Integrated Thermal Management System for Electric Vehicles
J. Dyn. Sys., Meas., Control
Electromagnetic Model of Linear Resonant Actuators
J. Dyn. Sys., Meas., Control (May 2023)
Discrete Robust Control of Robot Manipulators Using an Uncertainty and Disturbance Estimator
J. Dyn. Sys., Meas., Control (May 2023)
Related Articles
Observer and Controller Design Using Time-Varying Gains: Duality and Distinctions
J. Dyn. Sys., Meas., Control (June,2005)
Modelling, Identification, and Passivity-Based Robust Control of Piezo-actuated Flexible Beam
J. Vib. Acoust (April,2004)
A Switching Scheme for Mixed PZT-Based/Jet Thrusters Control of a Large Flexible Structure
J. Dyn. Sys., Meas., Control (December,2001)
Active Control of Longitudinal Vibration of a Time-Varying Shafting System With a Dynamic Interpolating Adaptive Method
J. Vib. Acoust (February,2019)
Related Proceedings Papers
Related Chapters
An Intelligent Control System Based on FPGA for Telephone Communication Network
International Conference on Electronics, Information and Communication Engineering (EICE 2012)
The Research on the DC Speed-Adjusting System Based on DSP
International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3
Drillstring Dynamics and Vibration Control
Oilwell Drilling Engineering