Reduced-Order Observers for Nonlinear State Estimation in Flexible Multibody Systems
Modern control schemes adopted in multibody systems take advantage of the knowledge of a large set of measurements of the most important state variables to improve system performances. In the case of flexible-link multibody systems, however, the direct measurement of these state variables is not usu...
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2018/6538737 |
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| author | Ilaria Palomba Dario Richiedei Alberto Trevisani |
| author_facet | Ilaria Palomba Dario Richiedei Alberto Trevisani |
| author_sort | Ilaria Palomba |
| collection | DOAJ |
| description | Modern control schemes adopted in multibody systems take advantage of the knowledge of a large set of measurements of the most important state variables to improve system performances. In the case of flexible-link multibody systems, however, the direct measurement of these state variables is not usually possible or convenient. Hence, it is necessary to estimate them through accurate models and a reduced set of measurements ensuring observability. In order to cope with the large dimension of models adopted for flexible multibody systems, this paper exploits model reduction for synthesizing reduced-order nonlinear state observers. Model reduction is done through a modified Craig-Bampton strategy that handles effectively nonlinearities due to large displacements of the mechanism and through a wise selection of the most important coordinates to be retained in the model. Starting from such a reduced nonlinear model, a nonlinear state observer is developed through the extended Kalman filter (EKF). The method is applied to the numerical test case of a six-bar planar mechanism. The smaller size of the model, compared with the original one, preserves accuracy of the estimates while reducing the computational effort. |
| format | Article |
| id | doaj-art-b90ebb776ffe4687a8f26244be5bda2d |
| institution | DOAJ |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-b90ebb776ffe4687a8f26244be5bda2d2025-08-20T03:22:49ZengWileyShock and Vibration1070-96221875-92032018-01-01201810.1155/2018/65387376538737Reduced-Order Observers for Nonlinear State Estimation in Flexible Multibody SystemsIlaria Palomba0Dario Richiedei1Alberto Trevisani2Faculty of Science and Technology, Free University of Bolzano-Bozen, Piazza Università 5, Bolzano 39100, ItalyDepartment of Management and Engineering (DTG), Università degli Studi di Padova, Stradella San Nicola 3, Vicenza 36100, ItalyDepartment of Management and Engineering (DTG), Università degli Studi di Padova, Stradella San Nicola 3, Vicenza 36100, ItalyModern control schemes adopted in multibody systems take advantage of the knowledge of a large set of measurements of the most important state variables to improve system performances. In the case of flexible-link multibody systems, however, the direct measurement of these state variables is not usually possible or convenient. Hence, it is necessary to estimate them through accurate models and a reduced set of measurements ensuring observability. In order to cope with the large dimension of models adopted for flexible multibody systems, this paper exploits model reduction for synthesizing reduced-order nonlinear state observers. Model reduction is done through a modified Craig-Bampton strategy that handles effectively nonlinearities due to large displacements of the mechanism and through a wise selection of the most important coordinates to be retained in the model. Starting from such a reduced nonlinear model, a nonlinear state observer is developed through the extended Kalman filter (EKF). The method is applied to the numerical test case of a six-bar planar mechanism. The smaller size of the model, compared with the original one, preserves accuracy of the estimates while reducing the computational effort.http://dx.doi.org/10.1155/2018/6538737 |
| spellingShingle | Ilaria Palomba Dario Richiedei Alberto Trevisani Reduced-Order Observers for Nonlinear State Estimation in Flexible Multibody Systems Shock and Vibration |
| title | Reduced-Order Observers for Nonlinear State Estimation in Flexible Multibody Systems |
| title_full | Reduced-Order Observers for Nonlinear State Estimation in Flexible Multibody Systems |
| title_fullStr | Reduced-Order Observers for Nonlinear State Estimation in Flexible Multibody Systems |
| title_full_unstemmed | Reduced-Order Observers for Nonlinear State Estimation in Flexible Multibody Systems |
| title_short | Reduced-Order Observers for Nonlinear State Estimation in Flexible Multibody Systems |
| title_sort | reduced order observers for nonlinear state estimation in flexible multibody systems |
| url | http://dx.doi.org/10.1155/2018/6538737 |
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