Adaptive simultaneous motion and vibration control for a multi flexible-link mechanism with uncertain general harmonic disturbance. (10th November 2017)

• Record Type: Journal Article
• Authors: Wang, Ji; Pi, Yangjun; Hu, Yumei; Zhu, Zhencai; Zeng, Lingbin
• Is Part Of: Journal of sound and vibration. Volume 408(2017)
• Page Start: 60
• Page End: 72
• Publication Date: 2017-11-10
• Subjects: Flexible mechanisms -- Vibration control -- Adaptive control -- Uncertain disturbance -- Disturbance rejection; Sound -- Periodicals; Vibration -- Periodicals; Son -- Périodiques; Vibration -- Périodiques; Sound; Vibration; Periodicals; Electronic journals; 620.205
• DOI: 10.1016/j.jsv.2017.07.024
• Languages: English
• ISSNs: 0022-460X

Abstract

Abstract: In this paper, a new motion and vibration synthesized control system—a linear quadratic regulator/strain rate feedback controller (LQR/SRF) with adaptive disturbance attenuation is presented for a multi flexible-link mechanism subjected to uncertain harmonic disturbances with arbitrary frequencies and unknown magnitudes. In the proposed controller, nodal strain rates are introduced into the model of the multi flexible-link mechanism, based upon which a synthesized LQR controller where both rigid-body motion and elastic deformation are considered is designed. The uncertain harmonic disturbances would be canceled in the feedback loop by its approximated value which is computed online via an adaptive update law. Asymptotic stability of the closed-loop system is proved by the Lyapunov analysis. The effectiveness of the proposed controller is shown via simulation.