Adaptive simultaneous motion and vibration control for a multi flexible-link mechanism with uncertain general harmonic disturbance

• Published in: Journal of sound and vibration Vol. 408; pp. 60 - 72
• Main Authors: Wang, Ji, Pi, Yangjun, Hu, Yumei, Zhu, Zhencai, Zeng, Lingbin
• Format: Journal Article
• Language: English
• Published: Amsterdam Elsevier Ltd 10.11.2017; Elsevier Science Ltd
• Subjects: Adaptive control; Adaptive technology; Attenuation; Computer simulation; Control theory; Controllers; Deformation mechanisms; Disturbance rejection; Disturbances; Elastic deformation; Feedback control; Feedback loops; Flexible mechanisms; Harmonic analysis; Linear quadratic regulator; Motion control; Rigid-body dynamics; Stability analysis; Strain rate; Uncertain disturbance; Vibration; Vibration control; Uncertain disturbance; Flexible mechanisms; Disturbance rejection; Vibration control; Adaptive control
• ISSN: 0022-460X; 1095-8568
• DOI: 10.1016/j.jsv.2017.07.024

In this paper, a new motion and vibration synthesized control system—a linear quadratic regulator/strain rate feedback controller (LQR/SRF) with adaptive disturbance attenuation is presented for a multi flexible-link mechanism subjected to uncertain harmonic disturbances with arbitrary frequencies and unknown magnitudes. In the proposed controller, nodal strain rates are introduced into the model of the multi flexible-link mechanism, based upon which a synthesized LQR controller where both rigid-body motion and elastic deformation are considered is designed. The uncertain harmonic disturbances would be canceled in the feedback loop by its approximated value which is computed online via an adaptive update law. Asymptotic stability of the closed-loop system is proved by the Lyapunov analysis. The effectiveness of the proposed controller is shown via simulation.