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Closed‐loop input shaping control of vibration in flexible structures using discrete‐time sliding mode
Author(s) -
Pai MingChang
Publication year - 2011
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1618
Subject(s) - control theory (sociology) , input shaping , robustness (evolution) , residual , vibration , sliding mode control , vibration control , impulse (physics) , robust control , computer science , discrete time and continuous time , engineering , control system , mathematics , control (management) , algorithm , nonlinear system , physics , artificial intelligence , biochemistry , chemistry , quantum mechanics , electrical engineering , gene , statistics
Input shaping technique is widely used in reducing or eliminating residual vibration of flexible structures. It is easy to implement and achieve the exact elimination of the residual vibration if the dynamics of the system are known accurately. However, it is not very robust to parameter uncertainties and external disturbances. In this paper, a closed‐loop input shaping method is developed for reducing or eliminating residual vibration of flexible structure systems with parameter uncertainties and external disturbances. The algorithm is based on input shaping control and discrete‐time sliding mode control. It is shown that the proposed scheme guarantees closed‐loop system stability, and yields good performance and robustness in the presence of parameter uncertainties and external disturbances as well. The selection of switching surface and the existence of sliding mode are two important issues, which have been addressed. The knowledge of upper bound of uncertainties is not required. 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. Copyright © 2010 John Wiley & Sons, Ltd.