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Motion planning for a piezo‐actuated structure modeling a wingsail
Author(s) -
Kater Andreas,
Meurer Thomas
Publication year - 2014
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201410428
Subject(s) - flatness (cosmology) , feed forward , actuator , deflection (physics) , motion planning , finite element method , computer science , control theory (sociology) , motion control , motion (physics) , control engineering , engineering , control (management) , physics , artificial intelligence , structural engineering , robot , classical mechanics , cosmology , quantum mechanics
This contribution presents the modeling and the motion planning of a flexible interconnected beam structure representing a wingsail. The structure is equipped with spatially distributed embedded actuators. The solution of the motion planning provides a feedforward control law to realize a desired spatial‐temporal out‐of‐plane deflection trajectory. For this, a systematic flatness‐based methodology is proposed, that allows for an efficient numerical solution exploiting, e.g., finite element approximations. (© 2014 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)