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Design for robust component synthesis vibration suppression of flexible structures with on-off actuators

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3 Author(s)
Jinjun Shan ; Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, China ; Dong Sun ; Dun Liu

This paper presents a development of component synthesis vibration suppression (CSVS) method for control of flexible structures. The proposed method eliminates unwanted flexible modes of vibration while achieving the desired rigid body motion. The robustness to uncertainties of dynamic modeling parameters is analyzed. Unlike traditional input shaping, in which a numerical optimization is used, design for CSVS commands is based on analytic methodology and is relatively easy to implement. A case study is performed on a time-fuel optimal control strategy using constant amplitude reaction jet thrusters. Both simulation and experimental results validate the effectiveness of the proposed approach.

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Robotics and Automation, IEEE Transactions on  (Volume:20 ,  Issue: 3 )