Benefits of over-actuation in motion systems

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This paper studies the benefits of using additional actuators in the design of motion systems. The motion part and disturbance attenuation part require different placement of the actuators to work optimally, which is not possible in traditional designs. Allowing extra actuators in the design makes it possible to overcome this limitation. In this way the controllability of the internal dynamics of the structure can be both maximized for feedback and minimized for feedforward. By tuning a staticrelation between the actuators it is possible to minimize the excitation of resonances in the feedforward path. The feedback path can be designed using existing vibration control strategies.The idea is demonstrated by the example of a levitated beam.
Original languageEnglish
Title of host publicationProceedings of the 2004 American control conference, ACC : June 30 - July 2, 2004, Boston, Massachusetts
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Print)0-7803-8335-4
Publication statusPublished - 2004


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