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Operator-based robust nonlinear optimal vibration control for an L-shaped arm driven by linear pulse motor

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  • Control Theory and Applications
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Abstract

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.

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Authors and Affiliations

  1. Graduate School of Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei, Tokyo, 184-8588, Japan

    Yanfeng Wu & Mingcong Deng

Authors
  1. Yanfeng Wu
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  2. Mingcong Deng
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Corresponding author

Correspondence to Mingcong Deng.

Additional information

Recommended by Associate Editor Shihua Li under the direction of Editor Myo Taeg Lim. This work was supported in part by JSPS KAKENHI Grant (No. 17K06225).

Yanfeng Wu received the M.Eng. degree from Chang’an University, China, in 2005. He is currently a Ph.D. Candidate at Tokyo University of Agriculture and Technology, Japan. His research interests include nonlinear system modelling, control and fault detection.

Mingcong Deng received the Ph.D. degree from Kumamoto University, Japan, in 1997. He is presently a Professor at Tokyo University of Agriculture and Technology, Japan. His research interests include living body measurement, nonlinear system modelling, control and fault detection etc..

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Wu, Y., Deng, M. Operator-based robust nonlinear optimal vibration control for an L-shaped arm driven by linear pulse motor. Int. J. Control Autom. Syst. 15, 2026–2033 (2017). https://doi.org/10.1007/s12555-016-0320-3

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  • DOI: https://doi.org/10.1007/s12555-016-0320-3

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