From RoboticsWiki

Control of Flexible Structures

Projects

• Project Title: Control Architectures and Adaptive Model-Inverse Based Methods for Nonminimum Phase Uncertain Systems, with Applications to Atomic Force Microscopes

Investigators: Lucy Y. Pao and Daniel Y. Abramovitch

Sponsor: National Science Foundation

Grant CMMI-0700877

Program Manager: Dr. Suhada Jayasuriya

Project Duration: July 2007 - June 2010

• Project Title: Design of Lidar, Data Processing, and Control Algorithms for Optimal Wind Farm Performance

Investigators: Rod G. Frehlich and Lucy Y. Pao

Sponsor: CU/NREL Energy Initiative

Project Duration: June 2007 - December 2008

• Project Title: Control of Atomic Force Microscopes to Achieve Faster Sample Measurements

Investigator: Lucy Y. Pao

Sponsor: Agilent Technologies, Inc.

Project Duration: November 2006 - October 2008

• Project Title: Time Optimal Repetitive Control Algorithms

Investigators: Lucy Y. Pao and Dale A. Lawrence

Sponsor: Maxtor Corporation

Project Duration: December 2004 - November 2007

• Project Title: Projected Phase-Plane Control of Flexible Structures with Applications to Hard Disk Drives

Investigator: Lucy Y. Pao

Sponsor: National Science Foundation

Grant CMS-0201459

Program Manager: Dr. Alison Flatau / Dr. Masayoshi Tomizuka / Dr. Mario Rotea / Dr. Eduardo Misawa / Dr. Suhada Jayasuriya

Project Duration: June 15, 2002 - May 31, 2007

• Project Title: Control of Tape Systems Accounting for Reel Eccentricities

Investigator: Lucy Y. Pao

Sponsor: Colorado Center for Information Storage . Project carried out in conjunction with Quantum Corporation.

Project Duration: March 1, 2004 - February 28, 2006

• Project Title: Speed and Tension Control in Tape Systems

Investigator: Lucy Y. Pao

Sponsor: Colorado Center for Information Storage . Project carried out in conjunction with Storage Technology Corporation.

Project Duration: March 1, 2001 - October 31, 2003

• Project Title: Rapid Slewing of Flexible Components

Investigator: Lucy Y. Pao

Sponsors: Colorado Center for Information Storage and Quantum Corporation

Project Duration: September 1, 2002 - August 31, 2007

• Project Title: Precise Control of Elastic Components for Tape Systems

Investigator: Lucy Y. Pao

Sponsors: Colorado Advanced Software Institute and Storage Technology Corporation

Project Duration: August 15, 1998 - August 31, 1999

• Project Title: Rapid and Robust Control of Flexible Structures

Investigator: Lucy Y. Pao

Sponsor: National Science Foundation

Early Faculty CAREER Development Award, Grant CMS-9625086

Program Manager: Dr. Devendra P. Garg (1996-1998), Dr. Alison Flatau (1998-2001)

Project Duration: June 1, 1996 - November 30, 2001

Awards

• CDC Semi-Plenary on "Control of Flexible Structures: From Large Space Structures to Disk Drive Read/Write Arms (Thursday, December 14, 2006).

• University of Colorado Faculty Fellowship, 2001-2002

• 2001 American Control Conference Best Student Paper Award for paper

M. A. Lau and L. Y. Pao. "Comparison of Input Shaping and Time-Optimal Control of Flexible Structures," Proc. American Control Conf., Arlington, VA, pp. 1485-1490, June 2001.

• Colorado Advanced Software Institute Exemplary Project Award, October 2000

• University of Colorado Junior Faculty Development Award, July 1997

• 1996 IFAC World Congress Young Author Prize for paper

L. Y. Pao. "Input Shaping Design for Flexible Systems with Multiple Actuators," Proc. IFAC World Congress, Vol. P (Aerospace and Transportation Systems), San Francisco, CA, pp. 267-272, July 1996.

• NSF Early Faculty CAREER Award, 1996-2001

Recent Publications

• M. D. Baumgart and L. Y. Pao. "Discrete Time-Optimal Command Shaping," Automatica, 43(8): 1403-1409, Aug. 2007.

• D. Y. Abramovitch, S. B. Andersson, L. Y. Pao, and G. Schitter. "A Tutorial on the Mechanisms, Dynamics, and Control of Atomic Force Microscopes," Proc. American Control Conf., New York, NY, July 2007.

• L. Y. Pao, J. A. Butterworth, and D. Y. Abramovitch. "Combined Feedforward/Feedback Control of Atomic Force Microscopes," Proc. American Control Conf., New York, NY, July 2007.

• V. Yousefzadeh, E. Alarcon, D. Maksimovic, and L. Pao. "Proximate Time-Optimal Digital Control for DC-DC Converters," Proc. IEEE Power Electronics Specialists Conf., Orlando, FL, June 2007.

• M. D. Baumgart and L. Y. Pao. "Robust Control of Nonlinear Web-Winding Systems with and without Tension Sensors," ASME J. Dynamic Systems, Measurement, and Control, 129(1): 41-55, Jan. 2007.

• B. P. Rigney, L. Y. Pao, and D. A. Lawrence. "Model Inversion Architectures for Settle Time Applications with Uncertainty," Proc. IEEE Conf. Decision and Control, San Diego, CA, pp. 6518-6524, Dec. 2006.

• B. P. Rigney, L. Y. Pao, and D. A. Lawrence. "Settle-Time Performance Comparisons of Approximate Inversion Techniques for LTI Nonminimum Phase Systems," Proc. American Control Conf., Minneapolis, MN, pp. 600-605, June 2006.

• C. La-orpacharapan and L. Y. Pao. "Fast and Robust Control of Systems with Multiple Flexible Modes," IEEE/ASME Trans. Mechatronics, 10(5): 521-534, Oct. 2005.

• V. Kulkarni, H. Zhong, and L. Y. Pao. "Robust Rejection of Periodic and Almost Periodic Disturbances," Proc. IFAC World Congress, Prague, Czech Republic, July 2005.

• M. D. Baumgart and L. Y. Pao. "Time-Optimal Control of Web-Winding Systems with Air Entrainment," IEEE/ASME Trans. Mechatronics, 10(3): 257-262, June 2005.

• H. Zhong, V. Kulkarni, and L. Y. Pao. "Adaptive Control for Rejecting Disturbances with Time-Varying Frequencies in Tape Systems," Proc. American Control Conf., Portland, OR, pp. 533-538, June 2005.

• L. Y. Pao. "Research in Control Systems, Sensor Fusion, and Haptic Interfaces," Acta Automatica Sinica, 31(1): 75-83, Jan. 2005.

• M. D. Baumgart and L. Y. Pao. "Robust Control of Tape Transport Systems with No Tension Sensor," Proc. IEEE Conf. Decision and Control, Paradise Island, Bahamas, pp. 4342-4349, Dec. 2004.

• C. La-orpacharapan and L. Y. Pao. "Robust Shaped Time-Optimal Servomechanism Control," Proc. Japan-USA Symposium on Flexible Automation, Denver, CO, July 2004.

• C. La-orpacharapan and L. Y. Pao. "Nonlinear Control for Maneuvering Multiple Flexible Mode Systems," Proc. American Control Conf., Boston, MA, pp. 1176-1182, June 2004.

• C. F. Cutforth and L. Y. Pao. "Adaptive Input Shaping Techniques for Maneuvering Flexible Structures," Automatica, 40(4): 685-693, April 2004.

• L. Y. Pao and C. La-orpacharapan. "Shaped Time-Optimal Feedback Controllers for Flexible Structures," ASME J. Dynamic Systems, Measurement, and Control, 126(1): 173-186, Mar. 2004.

• C. La-orpacharapan and L. Y. Pao. "Shaped Phase-Plane Feedback Control for Disk Drive Systems," IEEE Trans. Magnetics, 40(1): 85-96, Jan. 2004.

• M. D. Baumgart and L. Y. Pao. " Robust Lyapunov-Based Feedback Control of Nonlinear Web-Winding Systems," Proc. IEEE Conf. Decision and Control, Maui, HI, pp. 6398-6405, Dec. 2003.

• L. Y. Pao and C. F. Cutforth. "On Frequency-Domain and Time-Domain Input Shaping for Multi-mode Flexible Structures," ASME J. Dynamic Systems, Measurement, and Control, 125(3): 494-497, Sept. 2003.

• C. La-orpacharapan and L. Y. Pao. " Shaped Time-Optimal Control for Disk Drive Systems with Back EMF, Slew Rate Limits, and Different Acceleration and Deceleration Rates," Proc. American Control Conf., Denver, CO, pp. 4788-4795, June 2003.

• C. La-orpacharapan and L. Y. Pao. " Fast Seek Control for Flexible Disk Drive Systems with Back EMF and Inductance," Proc. American Control Conf., Denver, CO, pp. 3077-3082, June 2003.

• M. D. Baumgart and L. Y. Pao. " A Tension Observer for Nonlinear Web-Winding Systems with Air Entrainment," Proc. American Control Conf., Denver, CO, pp. 4149-4154, June 2003.

• M. A. Lau and L. Y. Pao. "Input Shaping and Time-Optimal Control of Flexible Structures," Automatica, 39(5): 893-900, May 2003.

• C. F. Cutforth and L. Y. Pao. "Control Using Equal Length Shaped Commands to Reduce Vibration," IEEE Trans. Control Systems Technology, 11(1): 62-72, Jan. 2003.

• C. La-orpacharapan and L. Y. Pao. " Shaped Control for Damped Flexible Structures with Friction and Slew Rate Limits," Proc. IEEE Conf. Decision and Control, Las Vegas, NV, pp. 3099-3105, Dec. 2002.

• M. D. Baumgart and L. Y. Pao. " Transient Control of Web-Winding Systems with Air Entrainment," Proc. IFAC Conf. Mechatronic Systems, Berkeley, CA, pp. 17-22, Dec. 2002.

• C. La-orpacharapan and L. Y. Pao. "Shaped Phase-Plane Control for Flexible Structures with Friction," Proc. American Control Conf., Anchorage, AK, pp. 1911-1916, May 2002.

• C. F. Cutforth and L. Y. Pao. "Analysis and Design of an Adaptive Input Shaper for the Control of Flexible Structures," Proc. American Control Conf., Anchorage, AK, pp. 1903-1910, May 2002.

• M. D. Baumgart and L. Y. Pao. " Discrete Time-Optimal Command Shapers and Controls for Multi-Input Multi-Output Systems," Proc. American Control Conf., Anchorage, AK, pp. 2279-2284, May 2002.

• M. A. Lau and L. Y. Pao. "Characteristics of Time-Optimal Commands for Flexible Structures with Limited Fuel Usage," J. Guidance, Control, and Dynamics, 25(2): 222-231, Mar.-Apr. 2002.

• M. A. Lau and L. Y. Pao. " Comparison of Input Shaping and Time-Optimal Control of Flexible Structures," Proc. American Control Conf., Arlington, VA, pp. 1485-1490, June 2001.

• C. La-orpacharapan and L. Y. Pao. " Control of Flexible Structures with a Projected Phase-Plane Approach," Proc. American Control Conf., Arlington, VA, pp. 3817-3823, June 2001.

• M. D. Baumgart and L. Y. Pao. " Cooperative Multi-Input Shaping for Arbitrary Inputs," Proc. American Control Conf., Arlington, VA, pp. 275-280, June 2001.

• C. F. Cutforth and L. Y. Pao. "Command Shaping Control for Vibration Reduction without Lengthening the Command," Proc. AIAA Guidance, Navigation, and Control Conf., Denver, CO, Aug. 2000.

• M. A. Lau and L. Y. Pao. " Time-Optimal Commands with Specified Fuel Usage for Controlling Flexible Structures," Proc. American Control Conf., Chicago, IL, pp. 3058-3063, June 2000.

• L. Y. Pao. " Strategies for Shaping Commands in the Control of Flexible Structures," Proc. Japan/USA/Vietnam Workshop on Research and Education in Systems, Computation, and Control Engineering, Ho Chi Minh City, Vietnam, pp. 309-318, June 2000.

• L. Y. Pao and M. A. Lau. "Robust Input Shaper Control Design for Parameter Variations in Flexible Structures," ASME J. Dynamic Systems, Measurement, and Control, 122(1): 63-70, March 2000.

• C. F. Cutforth and L. Y. Pao. " A Modified Method for Multiple Actuator Input Shaping," Proc. American Control Conf., San Diego, CA, pp. 66-70, June 1999.

• C. F. Cutforth and L. Y. Pao. " An Analysis of Frequency-Domain Input Shaping Designs for Three-Mode Flexible Systems," Proc. American Control Conf., San Diego, CA, pp. 4388-4392, June 1999.

• L. Y. Pao and M. A. Lau. "The Expected Residual Vibration of Traditional and Hybrid Input Shaping Designs," J. Guidance, Control, and Dynamics, 22(1): 162-165, Jan.-Feb. 1999.

• L. Y. Pao. "Multi-Input Shaping Design for Vibration Reduction," Automatica, 35(1): 81-89, Jan. 1999.

• L. Y. Pao and M. A. Lau. "An Analysis of the Expected Residual Vibration of Input Shaping Designs," Proc. AIAA Guidance, Navigation, and Control Conf., Boston, MA, pp. 354-364, Aug. 1998.

• L. Y. Pao and M. A. Lau. " Input Shaping Designs to Account for Uncertainty in Both Frequency and Damping in Flexible Structures," Proc. American Control Conf., Philadelphia, PA, pp. 3070-3071, June 1998.

• L. Y. Pao and C. F. Cutforth. " An Analysis and Comparison of Frequency-Domain and Time-Domain Input Shaping," Proc. American Control Conf., Philadelphia, PA, pp. 3072-3074, June 1998.

• L. Y. Pao and W. E. Singhose. "Robust Minimum Time Control of Flexible Structures," Automatica, 34(2): 229-236, Feb. 1998.

• L. Y. Pao. "An Analysis of the Frequency, Damping, and Total Insensitivities of Input Shaping Designs," AIAA J. Guidance, Control, and Dynamics, 20(5): 909-915, Sept.-Oct. 1997.

• L. Y. Pao and W. E. Singhose. "Verifying Robust Time-Optimal Commands for Multi-Mode Flexible Spacecraft," AIAA J. Guidance, Control, and Dynamics, 20(4): 831-833, July-Aug. 1997.

• L. Y. Pao, T. N. Chang, and E. Hou. "Input Shaper Designs for Minimizing the Expected Level of Residual Vibration in Flexible Structures," Proc. American Control Conf., Albuquerque, NM, pp. 3542-3546, June 1997.

• W. E. Singhose and L. Y. Pao. "A Comparison of Input Shaping and Time-Optimal Flexible-Body Control," Control Engineering Practice, 5(4): 456-467, Apr. 1997.

• W. E. Singhose, L. Y. Pao, and W. P. Seering. "Slewing Multimode Flexible Spacecraft with Zero Derivative Robustness Constraints," AIAA J. Guidance, Control, and Dynamics, 20(1): 204-206, Jan.-Feb. 1997.

• W. E. Singhose and L. Y. Pao. "Comparison of Input Shaping Techniques for Speed-Critical Multi-Mode Flexible Systems," Proc. IEEE Conf. on Control Applications, Dearborn, MI, pp. 379-384, Sept. 1996.

• N. C. Singer, L. Y. Pao, W. E. Singhose, and W. P. Seering. ``An Efficient Algorithm for the Generation of Multiple-Mode Input Shaping Sequences," Proc. IEEE Conf. on Control Applications, Dearborn, MI, pp. 373-378, Sept. 1996.

• W. E. Singhose, L. Y. Pao, and W. P. Seering. "Time-Optimal Rest-to-Rest Slewing of Multi-Mode Flexible Spacecraft Using ZVD Robustness Constraints," Proc. AIAA Guidance, Navigation, and Control Conf., San Diego, CA, July 1996.

• L. Y. Pao. "An Analysis of the Total Insensitivity of Input Shaping Designs," Proc. AIAA Guidance, Navigation, and Control Conf., San Diego, CA, July 1996.

• L. Y. Pao and W. E. Singhose. "Unity-Magnitude Input Shapers and Their Relation to Time-Optimal Control," Proc. IFAC World Congress, Vol. A (Robotics, Components, and Instruments), San Francisco, CA, pp. 385-390, July 1996.

• L. Y. Pao. "Input Shaping Design for Flexible Systems with Multiple Actuators," Proc. IFAC World Congress, Vol. P (Aerospace and Transportation Systems), San Francisco, CA, pp. 267-272, July 1996.