Model Predictive Control of Vibration in a Two Flexible Link Manipulator — Part I
Bibliographic record
Abstract
A model predictive controller (MPC) in the form of dynamic matrix control (DMC) is implemented for attenuating in-plane vibrations of a two flexible link planar manipulator. The rotation of the joints and inertia effect of both the joints and links induce vibration. Piezoelectric actuators, mounted in a bimorph configuration, provide the control actions to reduce vibrations. Implementation of this control scheme is shown to provide appreciable attenuation of vibration over the uncontrolled case, increasing the damping ratio for the first and second link by a factor of 5.99 and 3.40, respectively. DMC control is further shown to reduce the mean amplitude of dominant vibrations from the uncontrolled case by 90.0% and 87.4%, respectively, for the first and second links. Furthermore, for the two link setup, this control is shown to outperform the more conventional ProportionalIntegral-Derivative (PID) control and is sufficiently robust to handle an unknown payload.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".