Adaptive vibration control of flexible structure with unknown and unmeasurable disturbances

2009

IJMIC

Self Cite

This paper presents an adaptive control of a piezoelectric actuator based flexible arm with unknown and unmeasurable disturbances. In real systems with external disturbances and dynamics of actuator, the vibration effect due to the inherent elastic deformation of flexible arm makes the satisfactory control results unachievable. To reduce the vibration effect and to consider the actuator dynamics based on an external disturbance model with consideration of dynamics of a piezoelectric actuator, adaptive vibration control experimental system is designed, where the controller is based on Youla-Kucera parametrisation and right coprime factorisation. Robust analysis of the proposed control system is also shown. As a practical appeal, simulation and experimental results are shown to support the proposal on the control system design.Reference to this paper should be made as follows: Deng, M. and Inoue, A. (2009) 'Adaptive vibration control of piezoelectric actuator based flexible arm with unknown and unmeasurable disturbances', Int.

Section: Model Of Flexible Arm With Piezoelectric Actuatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive vibration control of piezoelectric actuator based flexible arm with unknown and unmeasurable disturbances

2009

IJMIC

Self Cite

“…From the result in [4], we obtain the model of piezoelectric actuator and flexible arm as follows. The moment M p (t) generated with input voltage V (t) is described by (9).…”

Section: B Modeling and Problem Setupmentioning

confidence: 99%

“…Meanwhile, piezoelectric material actuator is light weight and high operational speed and the piezoelectric actuator can be bonded or embedded along a robot arm easily, this kind of actuator has been selected as the actuator of the flexible arm. So far, concerned with the above vibration problem, it can be considered as a periodic disturbance, and the control technique removing the periodic disturbance has been given in [4]. However, the vibrations by the characteristic vibration mode include from one to infinite order vibration modes and appear on the arm vibration.…”

Section: Introductionmentioning

confidence: 99%

Experimental Study on Operator-based Nonlinear Vibration Control System Design of a Flexible Arm with Piezoelectric Actuator

2007 International Conference on Mechatronics and Automation

Baba

Ueki

2007

Self Cite

Operator-based nonlinear vibration control of a flexible arm experimental system with uncertainties using robust right coprime factorization is considered in this paper. In general, the vibrations by the characteristic vibration mode include from one to infinite order vibration modes and appear on the arm vibration. It is difficult to consider all vibration modes. Consequently, based on the concept of Lipschitz operators and robust right coprime factorization condition, robust stability of the closed-loop system with unconsidered vibration modes as uncertainties and desired vibration control performance actuated by piezoelectric element are ensured. Finally, simulation and experimental results are presented to support the effectiveness of the proposed design.

“…Meanwhile, piezoelectric material actuator is light weight and high operational speed and the piezoelectric actuator can be bonded or embedded along a robot arm easily, this kind of actuator has been selected as the actuator of the flexible arm. So far, concerned with the above vibration problem, it can be considered as a periodic disturbance, and the control technique removing the periodic disturbance has been given in Inoue et al (2004) and Inoue and Deng (2007). However, the vibrations by the characteristic vibration mode include from one to infinite order vibration modes and appear on the arm vibration.…”

Section: Introductionmentioning

confidence: 99%

Operator-based non-linear vibration control system design of a flexible arm with piezoelectric actuator

Baba

2008

IJAMECHS

Self Cite

Most real plants must deal with some non-linear characteristics. For the non-linear plants, design of non-linear control system using operator-based robust right coprime factorisation is considered. The considered non-linear control system applications show the desired results. In this paper, operator-based non-linear vibration control of a flexible arm experimental system with uncertainties using robust right coprime factorisation is considered. In general, the vibrations by the characteristic vibration mode include from one to infinite order vibration modes and appear on the arm vibration. It is difficult to consider all vibration modes. Consequently, based on the concept of Lipschitz operators and robust right coprime factorisation condition, robust stability of the closed-loop system with unconsidered vibration modes as uncertainties is guaranteed, and desired vibration control performance actuated by piezoelectric element is ensured. Finally, simulation and experimental results are presented to support the effectiveness of the proposed design.Reference to this paper should be made as follows: Deng, M., Inoue, A. and Baba, Y. (2008) 'Operator-based non-linear vibration control system design of a flexible arm with piezoelectric actuator', Int.