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Experimental Study on Operator-based Nonlinear Vibration Control System Design of a Flexible Arm with Piezoelectric Actuator

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4 Author(s)
Mingcong Deng ; Department of Systems Engineering, Okayama University, 3-1-1 Tsushima-Naka, Okayama, 700-8530, Japan. deng@suri.sys.okayama-u.ac.jp ; Akira Inoue ; Yusuke Baba ; Nobuyuki Ueki

Operator-based nonlinear vibration control of a flexible arm experimental system with uncertainties using robust right coprime factorization is considered in this paper. In general, the vibrations by the characteristic vibration mode include from one to infinite order vibration modes and appear on the arm vibration. It is difficult to consider all vibration modes. Consequently, based on the concept of Lipschitz operators and robust right coprime factorization condition, robust stability of the closed-loop system with unconsidered vibration modes as uncertainties and desired vibration control performance actuated by piezoelectric element are ensured. Finally, simulation and experimental results are presented to support the effectiveness of the proposed design.

Published in:

2007 International Conference on Mechatronics and Automation

Date of Conference:

5-8 Aug. 2007