Experimental Studies on Operator-based Nonlinear Vibration Control of a Flexible Arm Considering Prescribed Performance

被引：0
作者：
Deng, Mingcong [1 ]
Koide, Tomoki [1 ]
机构：
[1] Tokyo Univ Agr & Technol, Grad Sch Engn, 2-24-16 Nakacho, Koganei, Tokyo 1848588, Japan
来源：
2020 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS) | 2020年
关键词：
Flexible arm; Shape Memory Alloy (SMA); Vibration control; Operator theory; Prescribed Performance Control(PPC); SHAPE-MEMORY ALLOY; TRACKING;
D O I：
10.1109/icamechs49982.2020.9310149
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A flexible arm has light weight which can improve the work efficiency and reduce costs but it is prone to vibration. Researches on smart materials including Shape Memory Alloy (SMA) have been actively conducted due to its advantages as actuators but hysteresis dynamics can adversely affect the control performance. Considering that the stability of the entire control system based on operator theory for the flexible arm using the SMA actuator including the tracking controller is unknown, in this paper, a control system that uses the prescribed performance control (PPC) as the tracking controller is proposed. Specifically, a controller with PPC characteristics is presented into the operator-based control system, and the stability is verified. Experiments are conducted to demonstrate the effectiveness of the proposed control system.
引用
收藏
页码：226 / 231
页数：6
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