Smart Structures and Systems

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Trajectory tracking and active vibration suppression of a smart Single-Link flexible arm using a composite control design

  • Mirzaee, E. (Mechanical Engineering Department, Shiraz University) ;
  • Eghtesad, M. (Mechanical Engineering Department, Shiraz University) ;
  • Fazelzadeh, S.A. (Mechanical Engineering Department, Shiraz University)
  • Received : 2009.12.04
  • Accepted : 2010.09.20
  • Published : 2011.02.25
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Abstract

This paper is concerned with the trajectory tracking and vibration suppression of a single-link flexible arm by using piezoelectric materials. The dynamics of a single flexible arm with PZT patches as sensor and actuator is derived using extended Hamilton's principle. Resulting equations show that the coupled beam dynamics including beam vibration and its rigid in-plane rotation takes place in two different time scales. By using singular perturbation theory, the system dynamics is divided into two subsystems. Then, a composite control scheme is elaborated that makes the orientation of the arm track a desired trajectory while suppressing its vibration. The proposed controller has two parts: one is a tracking controller designed for the slow (rigid) subsystem, and the other one is a stabilizing controller for the fast (flexible) subsystem. The outputs considered for the system are angular position of the hub and voltage of the sensor mounted on the structure. To avoid requiring further measurements of beam vibration and also angular velocity of the hub for the fast and slow control laws, respectively, two sliding mode observers for estimating the unknown states are also designed.

Keywords

References

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