A new topological optimization method for the mechanical and control-oriented design of compliant piezoelectric devices.
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This paper presents a new method developed for the optimal design of piezoactive compliant mechanisms. It is based on a flexible building blocks method, called FlexIn, which uses an evolutionary approach, to optimize a truss-like structure made of passive and active piezoelectric buiding blocks. An electromechanical approach, based on a mixed finite element method, is used to establish the model of the piezoelectric block. A planar monolithic compliant micro-actuator is synthesized by the optimization method, based on the specifications drawn from both mechanical and innovative control-oriented considerations. In particular, these last criteria have been drawn here to optimize modal controllability and observability of the system, which is particularly interesting when considering identification and control of flexible structures.Keywords:
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Topology optimization
This paper proposes performance indeces of robot arms from a new viewpoint of the degrees of controllability and observability. The definitions of the controllability, observability and output-controllability Gramians of linear systems are given to show these degrees, and the physical meanings of these Gramians are explained. Using the products of the eigenvalues of these Gramians, the controllability, observability and output-controllability gains are proposed as the measures of performance evaluation of robot arms. Furthermore, it is shown that manipulability and dynamic manipulability can be obtained as the degrees of observability and output-controllability. As a numerical example, a two link arm is evaluated using the controllability, observability and output-controllability measures.
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The generalized inverse form of a rectangular descriptor system is proposed. Unlike the relationship between the inverse form and a regular descriptor system, controllability and observability of the generalized inverse form are not equivalent to C-controllability and C-observability of the original system. It can be also found that conditions for C-controllability and C-observability of a rectangular descriptor system are not dual under the generalized inverse form
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In this note a necessary and sufficient condition for modal controllability (modal observability) of a 2-D system as defined in [3], is obtained in terms of controllability (observability) of a system as is derived in [1]. Furthermore, it is shown that modal controllability (modal observability) is a generic property.
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Controllability and observability at infinity of linear time-varying descriptor systems are considered. New characterisations of controllability and observability at infinity are given. Based on the definitions of controllability and observability at infinity, necessary and sufficient conditions for these properties are obtained and presented in terms of original system parameters. The present framework is shown to overcome several difficulties inherent in other treatments of descriptor systems.
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This paper considers the linear controllability and observability of an n-link planar robot with active joints. The controllability and observability around the upright equilibrium point (UEP) are investigated. Specific properties of the mechanical parameters are used to derive a necessary and sufficient condition for the linear controllability and observability of the robot when any of the n - 2 joints other than the first or last is active. For the case that there are two active joints adjacent to each other, a necessary and sufficient condition is also established to ensure the controllability and observability at the UEP.
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Controllability and observability are two fundamental system properties that yield insight in the structural relationships between state-, input-, and output variables. It is well-known that for non-linear type of system models these structural properties are difficult to analyse, especially if the size of the corresponding model is large. A sensitivity based method to assess local controllability and observability for non-linear systems in a simple way is discussed here and its validity is demonstrated with some examples taken from various applications in the control literature. A major advantage of our sensitivity based approach is that no Lie-derivatives or Lie-brackets have to be calculated and this results in a fast algorithm for structural system analysis. An optional second step in the analyses is the verification of a lack of observability/controllability, once obtained in the first step, with a simplified symbolic computation. Finally, the so-called observability- and controllability signatures of a given system are presented that characterize local observability/controllability and yield a succinct visual summary of these fundamental system properties.
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The controllability and observability of Boolean control network(BCN) are two fundamental properties. But the verification of latter is much harder than the former. This paper considers the observability of BCN via controllability. First, the set controllability is proposed, and the necessary and sufficient condition is obtained. Then a technique is developed to convert the observability into an equivalent set controllability problem. Using the result for set controllability, the necessary and sufficient condition is also obtained for the observability of BCN.
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The concept of angles of inclination between subspaces is used in an algorithm for the numerical determination of observability and controllability indices. These angles can be determined in an efficient and numerically stable way and provide an intuitively appealing quantitative measure of the degree of controllability or observability of a linear system.
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Network controllability
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