Controller design for flexible structure vibration suppression with robustness to contacts
Model-based feedback control of vibration in flexible structures can be complicated by the possibility that interaction with an external body occurs. If not accounted for, instability or poor performance may result. In this paper, a method is proposed for achieving robust vibration control of flexib...
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th-cmuir.6653943832-13822014-08-29T09:29:14Z Controller design for flexible structure vibration suppression with robustness to contacts Cole M.O.T. Wongratanaphisan T. Pongvuthithum R. Fakkaew W. Model-based feedback control of vibration in flexible structures can be complicated by the possibility that interaction with an external body occurs. If not accounted for, instability or poor performance may result. In this paper, a method is proposed for achieving robust vibration control of flexible structures under contact. The method uses robust linear state feedback, coupled with a state estimation scheme utilizing contact force measurement. Uncertain contact characteristics are modelled by a sector-bounded non-linear function, such that state feedback gains can be synthesized using a matrix inequality formulation of the Popov stability criterion. A separation theorem is used to establish a robust H2 cost bound for the closed loop system. Experimental results from a multi-mode flexible structure testbed confirm that vibration attenuation and stability can be maintained over a broad range of contact characteristics, in terms of compliance and clearance. © 2008 Elsevier Ltd. All rights reserved. 2014-08-29T09:29:14Z 2014-08-29T09:29:14Z 2008 Article 00051098 10.1016/j.automatica.2008.03.022 ATCAA http://www.scopus.com/inward/record.url?eid=2-s2.0-55049140781&partnerID=40&md5=a9333d559fa104beb164bdeeb502fbf2 http://cmuir.cmu.ac.th/handle/6653943832/1382 English |
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Model-based feedback control of vibration in flexible structures can be complicated by the possibility that interaction with an external body occurs. If not accounted for, instability or poor performance may result. In this paper, a method is proposed for achieving robust vibration control of flexible structures under contact. The method uses robust linear state feedback, coupled with a state estimation scheme utilizing contact force measurement. Uncertain contact characteristics are modelled by a sector-bounded non-linear function, such that state feedback gains can be synthesized using a matrix inequality formulation of the Popov stability criterion. A separation theorem is used to establish a robust H2 cost bound for the closed loop system. Experimental results from a multi-mode flexible structure testbed confirm that vibration attenuation and stability can be maintained over a broad range of contact characteristics, in terms of compliance and clearance. © 2008 Elsevier Ltd. All rights reserved. |
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Article |
author |
Cole M.O.T. Wongratanaphisan T. Pongvuthithum R. Fakkaew W. |
spellingShingle |
Cole M.O.T. Wongratanaphisan T. Pongvuthithum R. Fakkaew W. Controller design for flexible structure vibration suppression with robustness to contacts |
author_facet |
Cole M.O.T. Wongratanaphisan T. Pongvuthithum R. Fakkaew W. |
author_sort |
Cole M.O.T. |
title |
Controller design for flexible structure vibration suppression with robustness to contacts |
title_short |
Controller design for flexible structure vibration suppression with robustness to contacts |
title_full |
Controller design for flexible structure vibration suppression with robustness to contacts |
title_fullStr |
Controller design for flexible structure vibration suppression with robustness to contacts |
title_full_unstemmed |
Controller design for flexible structure vibration suppression with robustness to contacts |
title_sort |
controller design for flexible structure vibration suppression with robustness to contacts |
publishDate |
2014 |
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http://www.scopus.com/inward/record.url?eid=2-s2.0-55049140781&partnerID=40&md5=a9333d559fa104beb164bdeeb502fbf2 http://cmuir.cmu.ac.th/handle/6653943832/1382 |
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1681419660175605760 |