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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Main Authors: Matthew O T Cole, Theeraphong Wongratanaphisan, Radom Pongvuthithum, Wichaphon Fakkaew
Format: Journal
Published: 2018
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http://cmuir.cmu.ac.th/jspui/handle/6653943832/60416
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Institution: Chiang Mai University
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spelling th-cmuir.6653943832-604162018-09-10T03:42:07Z Controller design for flexible structure vibration suppression with robustness to contacts Matthew O T Cole Theeraphong Wongratanaphisan Radom Pongvuthithum Wichaphon Fakkaew Engineering 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 H2cost 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. 2018-09-10T03:42:07Z 2018-09-10T03:42:07Z 2008-11-01 Journal 00051098 2-s2.0-55049140781 10.1016/j.automatica.2008.03.022 https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=55049140781&origin=inward http://cmuir.cmu.ac.th/jspui/handle/6653943832/60416
institution Chiang Mai University
building Chiang Mai University Library
country Thailand
collection CMU Intellectual Repository
topic Engineering
spellingShingle Engineering
Matthew O T Cole
Theeraphong Wongratanaphisan
Radom Pongvuthithum
Wichaphon Fakkaew
Controller design for flexible structure vibration suppression with robustness to contacts
description 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 H2cost 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.
format Journal
author Matthew O T Cole
Theeraphong Wongratanaphisan
Radom Pongvuthithum
Wichaphon Fakkaew
author_facet Matthew O T Cole
Theeraphong Wongratanaphisan
Radom Pongvuthithum
Wichaphon Fakkaew
author_sort Matthew O T Cole
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 2018
url https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=55049140781&origin=inward
http://cmuir.cmu.ac.th/jspui/handle/6653943832/60416
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