|Operator-based robust nonlinear optimal vibration control for an Lshaped arm driven by linear pulse motor
YanfengWu and Mingcong Deng*
International Journal of Control, Automation, and Systems, vol. 15, no. 5, pp.2026-2033, 2017
Abstract : "An L-shaped arm driven by a linear pulse motor is considered in this paper, an operator-based robust
nonlinear control approach is proposed to reduce the vibration of the arm. First, by separating the arm into two
parts, its vibration dynamics is modelled based on Euler-Bernoulli beam theory. Second, by using operator-based
robust right coprime factorization approach, two control schemes are designed, one for controlling the linear pulse
motor move to the desired destination and reducing the vibration of the arm with optimal trajectory, another one
is to control vibration of the arm by using a piezoelectric actuator, where a tracking compensator is designed to
compensate the hysteresis of the piezoelectric actuator and make the arm vibration track to the reference values.
Finally, simulation results are demonstrated to verify the effectiveness of the proposed control scheme."
"L-shaped arm, nonlinear robust control, operator theory, piezoelectric actuator, right coprime factorization, vibration control."
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