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Vibration suppression of a single flexible link using a linear modal coupling paradigm

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3 Author(s)
Tuer, K.L. ; Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada ; Wang, D. ; Farid Golnaraghi, M.

Unique phenomena that can arise in linear and nonlinear systems that are dynamically and/or statically coupled have been utilised for vibration suppression. In the linear case, static coupling is established between the oscillatory modes of a plant with a single input and a series of second order controllers. The controlled system is characterised by a plant response that approaches the desired state at the rate of a cosine function. In this investigation the single-degree-of freedom coupling control theory is extended to suppress disturbance induced oscillations of a single flexible link. The suppression action is achieved using the hybrid control method which was developed to supply the suppression action, especially for the multidegree-of freedom case. The resulting control algorithm is implemented experimentally

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994