This paper investigates the feasibility of robust adaptive feedforward control for the vibration suppression of a smart flexible beam. The adaptive least mean square (LMS) feedforward control with sliding mode controller is developed. Finite element model of flexible beam is calculated. The developed adaptive control with sliding mode controller design is numerically verified on a flexible beam...

We propose a method for motion control of a redundant manipulator on a flexible base. Manipulator selfmotion is determined from a velocity-level additional constraint obtained from base vibration dynamics. End-effector path tracking is ensured via pseudoinverse-based velocity control. In this way, algorithmic singularities associated with the additional constraint are avoided. The vibration sup...

Abstract: In the positioning system of the large-scale high-precision stage, the primary resonance mode appears in low frequency even in the high stiffness stage. The resonance mode is a major obstacle of fast and precise positioning. In this paper, we apply vibration suppression PTC (Perfect Tracking Control) which can control the resonance mode actively on the largescale stage. Finally, simul...

Abstract— In this paper, H∞ Modified Positive Position Feedback (HMPPF) and H∞ Modified Positive Velocity Feedback (HMPVF) controllers are developed as two novel controllers for active vibration suppression in flexible structures. The controllers use the concept of positive feedback and are enhanced by the powerful optimization ability of the H∞ to provide effective vibration suppression. After...

Novel low-power or semiactive devices are developed for vibration suppression applications. By manipulating the structural stiffness, the resisting forces generated by the devices are quite large and independent of velocity. Experimental results are presented to demonstrate the feasibility of the devices and to justify the main assumptions used. The critical design issue of device placement is ...

Based on a distributed parameter model for vibrations, an approximate nite dimensional dynamic compensator is designed to suppress vibrations (multiple modes with a broad band of frequencies) of a circular plate with Kelvin-Voigt damping and clamped boundary conditions. The control is realized via piezoceramic patches bonded to the plate and is calculated from information available from several...

For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed succ...