Closed-loop input shaping control of vibration in flexible structures via adaptive sliding mode control

Article type: Research Article

Authors: Pai, Ming-Chang

Affiliations: Department of Automation Engineering, Nan Kai University of Technology, Tsa-Tun, Nantou, Taiwan

Note: [] Corresponding author. Tel.: +886 49 2563489 3308; E-mail: pmc@nkut.edu.tw

Abstract: Input shaping technique is widely used in reducing or eliminating residual vibration of flexible structures. The exact elimination of the residual vibration via input shaping technique depends on the amplitudes and instants of impulse application. However, systems always have parameter uncertainties which can lead to performance degradation. In this paper, a closed-loop input shaping control scheme is developed for uncertain flexible structures. The algorithm is based on input shaping control and adaptive sliding mode control. The proposed scheme does not need a priori knowledge of upper bounds on the norm of the uncertainties, but estimates them by using the adaptation technique. This scheme guarantees closed-loop system stability, and yields good performance and robustness in the presence of parameter uncertainties and external disturbances as well. Furthermore, it is shown that increasing the robustness to parameter uncertainties does not lengthen the duration of the impulse sequence. Simulation results demonstrate the efficacy of the proposed closed-loop input shaping control scheme.

Keywords: Input shaping, residual vibration, adaptive sliding mode control

DOI: 10.3233/SAV-2011-0625

Journal: Shock and Vibration, vol. 19, no. 2, pp. 217-229, 2012