Operator-based robust nonlinear optimal vibration control for an L-shaped arm driven by linear pulse motor
- 72 Downloads
An L-shaped arm driven by a linear pulse motor is considered in this paper, an operator-based robust nonlinear control approach is proposed to reduce the vibration of the arm. First, by separating the arm into two parts, its vibration dynamics is modelled based on Euler-Bernoulli beam theory. Second, by using operator-based robust right coprime factorization approach, two control schemes are designed, one for controlling the linear pulse motor move to the desired destination and reducing the vibration of the arm with optimal trajectory, another one is to control vibration of the arm by using a piezoelectric actuator, where a tracking compensator is designed to compensate the hysteresis of the piezoelectric actuator and make the arm vibration track to the reference values. Finally, simulation results are demonstrated to verify the effectiveness of the proposed control scheme.
KeywordsL-shaped arm nonlinear robust control operator theory piezoelectric actuator right coprime factorization vibration control
Unable to display preview. Download preview PDF.
- K. B. Waghulde, B. Sinha, M. M. Patil, and S. Mishra, “Vibration control of cantilever smart beam by using piezoelectric actuators and sensors,” International Journal of Engineering and Technology, vol. 2, no. 4, pp. 259–262, August 2010.Google Scholar
- S. Bi, M. Deng, and A. Inoue, “OOperator based robust stability and tracking performance of MIMO nonlinear systems,” International Journal of Innovative Computing, Information and Control, vol. 5, no. 10, pp. 3351–3358, October 2009.Google Scholar
- S. S. Rao, Mechanical Vibrations. 5th ed. Prentice Hall, New Jersey, 2010.Google Scholar
- M. Deng, N. Bu, and A. Inoue, “Output tracking of nonlinear feedback systems with perturbation based on robust right coprime factorization,” International Journal of Innovative Computing, Information & Control, vol. 5, no. 10, pp. 3359–3366, October 2009.Google Scholar