Abstract
A method is proposed for determining the optimal placement and controller designfor multiple distributed actuators to reduce the vibrations of flexible structures. Inparticular, application of piezoceramic patches to a horizontally-slewingsingle-link flexible manipulator modeled using the assumed modes method isinvestigated. The optimization method uses simulated annealing and allowsplacement of any number of distributed actuators of unequal length, althoughpiezoceramics of fixed equal lengths are used in the example. It also designs anlinear-quadratic-regulator controller as part of the optimization procedure. Themeasures of performance used in the investigation to determine optimalityare the total mass of the system and the time integral of the absolutevalue of the hub and tip position error. This study also varies the relativeweightings for each of these performance measures to observe the effects on thecontroller designs and piezoceramic patch positions in the optimized solutions.
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