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Active vibration control of a flexible one-link manipulator using a multivariable predictive controller |
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| Affiliation: | 1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;2. School of Automation Science and Electrical Engineering, Beihang University, 100191, China;1. Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen, China;2. Shenzhen Graduate School, Tsinghua University, Shenzhen, China;3. Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, USA |
| Abstract: | This article presents a new application of model-based predictive controller (MPC) for vibration suppression of a flexible one-link manipulator using piezoceramic actuators. Simulation and experimental studies were conducted to investigate the applicability of the MPC strategy to control vibration of the flexible structure having multiple inputs and multiple outputs (MIMO). The performance of the proposed technique was assessed in terms of level of vibration reduction. The results demonstrated that the proposed predictive control strategy is well suited for multivariable control of vibration suppression on flexible structures. |
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