Research Projects

The trajectory control problem is a challenging task for dynamical systems like cranes, robots, and antennas due to their flexibility. However, it is crucial for engineering systems like flexible robots and tower cranes with 1D flexible structures. This proposal focuses on developing algorithms to solve trajectory control problems with time and speed constraints for 1D flexible structures. The proposed algorithms are based on partial differential equations (PDEs) of flexible structures, with three objectives: linear PDE models, linear PDE models coupled to finite-dimensional systems, and nonlinear PDE models coupled to finite-dimensional systems. The flatness technique, with generating functions and semi-discretization approaches, will be used to solve the trajectory control problems. The proposed algorithms will lead to novel theoretical advancements in flatness-based trajectory control. The practical value of the algorithms will be established through experimental validation, with new laboratory setups designed and fabricated to facilitate the transition of these algorithms to industrial applications. The experimental activities will establish a facility for testing algorithms developed for 1D flexible structures.