Robust Adaptive Vibration Control with Application to a Robot Beam
نویسنده
چکیده
This paper presents the adaptive control scheme with sliding mode compensator for vibration control problem in the presence of disturbance. The dynamic model of the flexible cantilever beam using finite element modeling is derived. The adaptive control with sliding mode compensator using output feedback for output tracking is developed to reject the external disturbance, and to improve the tracking performance. Satisfactory simulation results verify that the effectiveness of adaptive control scheme with sliding mode compensator. Keywords—finite element model, adaptive control, sliding mode control, vibration suppression
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