Robust Adaptive Vibration Control with Application to a Robot Beam
This paper presents the adaptive control scheme
with sliding mode compensator for vibration control problem
in the presence of disturbance. The dynamic model of the
flexible cantilever beam using finite element modeling is
derived. The adaptive control with sliding mode compensator
using output feedback for output tracking is developed to
reject the external disturbance, and to improve the tracking
performance. Satisfactory simulation results verify that the
effectiveness of adaptive control scheme with sliding mode
compensator.
[1] Tao, G., Kokotovic, P. V., 1996. Adaptive Control of Systems with
Actuator and Sensor Nonlinearities. John Wiley and Sons Inc. London,
England.
[2] Ioannou, P., Sun, J., 1996,Robust Adaptive Control. Prentice-Hall.
[3] Ioannou, P., Sun, J., 1988, "Theory and design of robust direct and
indirect adaptive control schemes", Int. Journal of Control, 47, pp. 775-
813.
[4] Ma, K., 2003,"Vibration control of smart structures with bonded PZT
patches: novel adaptive filtering algorithm and hybrid control scheme",
Smart Materials and Structure, 12, pp.473-482.
[5] Baumann, W. T., 1997, "An adaptive feedback approach to structural
vibration suppression", Journal of Sound and Vibration, 205, pp. 121-
133.
[6] Clark, K., Robertshaw, H., 1997, "Force feedback in adaptive trusses for
vibration isolation in flexible structure, " ASME Journal of Dynamics
Systems, Measurement and Control, 119, pp. 365-371.
[7] Canbolat, H., Dawson, D., 1998, "Adaptive boundary control of out-of
plane cable vibration, " ASME Journal of Applied Mechanics, 65,
pp.963-969.
[8] Ertur, D., Li, Y., Rahn, C.D., 1999, "Adaptive vibration isolation for
flexible structures", ASME Journal of Vibration and Acoustics, " 121,
pp.440-445.
[9] Meyrt, J., Harrington, W.B., Agrawal, B.N., Song, G., 1998, "Vibration
suppression of a spacecraft flexible appendage using smart materials",
Smart Materials and Structures, 7, pp.95-104.
[10] Gao, W., Wang,Y., 1995, " Discrete-time variable structure control
systems", IEEE trans. on Industrial Electronics. 42, pp.117-122.
[11] Song, G., Mukherjee, R., 1998, " A comparative study of conventional
nonsmooth time-invariant and smooth time-varying robust
compensator", IEEE trans. on Control System technology, 6(4), pp. 571-
576.
[12] Song, G., Quinn, D.D., 2004, "Experimental study of the robust tracking
control of a shape memory alloy wire actuator",ASME Journal of
Dynamics Systems, Measurement and Control, 126, pp. 674-677.
[13] Wang, Y.P., Sinha, A., 1998, "Adaptive sliding mode control algorithm
for a microgravity isolation system", Acta Astronautica, 43(7-8), pp.
377-384.
[14] Hsu, L., Araujo, A.D., Costa, R., 1994, "Analysis and design of I/O
based variable structure adaptive control", IEEE trans. on Automatic
control, 39(1), pp. 4 -21.
[15] Lee, T.H., Xu, J.X., Wang, M., 2000, "An adaptive variable structure
output tracking controller with improved transient performance",
International Journal of Systems Science, 31(1), pp. 35-45.
[16] Lee,T.H., Tan, K.K.,Lee,M.W., 1998, " A variable structure-augmented
adaptive controller for a gyro mirror line of light stabilization platform"
[1] Tao, G., Kokotovic, P. V., 1996. Adaptive Control of Systems with
Actuator and Sensor Nonlinearities. John Wiley and Sons Inc. London,
England.
[2] Ioannou, P., Sun, J., 1996,Robust Adaptive Control. Prentice-Hall.
[3] Ioannou, P., Sun, J., 1988, "Theory and design of robust direct and
indirect adaptive control schemes", Int. Journal of Control, 47, pp. 775-
813.
[4] Ma, K., 2003,"Vibration control of smart structures with bonded PZT
patches: novel adaptive filtering algorithm and hybrid control scheme",
Smart Materials and Structure, 12, pp.473-482.
[5] Baumann, W. T., 1997, "An adaptive feedback approach to structural
vibration suppression", Journal of Sound and Vibration, 205, pp. 121-
133.
[6] Clark, K., Robertshaw, H., 1997, "Force feedback in adaptive trusses for
vibration isolation in flexible structure, " ASME Journal of Dynamics
Systems, Measurement and Control, 119, pp. 365-371.
[7] Canbolat, H., Dawson, D., 1998, "Adaptive boundary control of out-of
plane cable vibration, " ASME Journal of Applied Mechanics, 65,
pp.963-969.
[8] Ertur, D., Li, Y., Rahn, C.D., 1999, "Adaptive vibration isolation for
flexible structures", ASME Journal of Vibration and Acoustics, " 121,
pp.440-445.
[9] Meyrt, J., Harrington, W.B., Agrawal, B.N., Song, G., 1998, "Vibration
suppression of a spacecraft flexible appendage using smart materials",
Smart Materials and Structures, 7, pp.95-104.
[10] Gao, W., Wang,Y., 1995, " Discrete-time variable structure control
systems", IEEE trans. on Industrial Electronics. 42, pp.117-122.
[11] Song, G., Mukherjee, R., 1998, " A comparative study of conventional
nonsmooth time-invariant and smooth time-varying robust
compensator", IEEE trans. on Control System technology, 6(4), pp. 571-
576.
[12] Song, G., Quinn, D.D., 2004, "Experimental study of the robust tracking
control of a shape memory alloy wire actuator",ASME Journal of
Dynamics Systems, Measurement and Control, 126, pp. 674-677.
[13] Wang, Y.P., Sinha, A., 1998, "Adaptive sliding mode control algorithm
for a microgravity isolation system", Acta Astronautica, 43(7-8), pp.
377-384.
[14] Hsu, L., Araujo, A.D., Costa, R., 1994, "Analysis and design of I/O
based variable structure adaptive control", IEEE trans. on Automatic
control, 39(1), pp. 4 -21.
[15] Lee, T.H., Xu, J.X., Wang, M., 2000, "An adaptive variable structure
output tracking controller with improved transient performance",
International Journal of Systems Science, 31(1), pp. 35-45.
[16] Lee,T.H., Tan, K.K.,Lee,M.W., 1998, " A variable structure-augmented
adaptive controller for a gyro mirror line of light stabilization platform"
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:55859", author = "J. Fei", title = "Robust Adaptive Vibration Control with Application to a Robot Beam", abstract = "This paper presents the adaptive control scheme
with sliding mode compensator for vibration control problem
in the presence of disturbance. The dynamic model of the
flexible cantilever beam using finite element modeling is
derived. The adaptive control with sliding mode compensator
using output feedback for output tracking is developed to
reject the external disturbance, and to improve the tracking
performance. Satisfactory simulation results verify that the
effectiveness of adaptive control scheme with sliding mode
compensator.", keywords = "finite element model, adaptive control, sliding modecontrol, vibration suppression", volume = "2", number = "2", pages = "189-6", }