NDLI: Operator-based robust non-linear vibration control for an L-shaped arm with unknown load by using on-line wavelet transform

Content Provider	IET Digital Library
Author	Wu, Yanfeng Deng, Mingcong
Abstract	An L-shaped arm with unknown load driven by a linear pulse motor is studied in this work. To control the motor motion and the arm vibration, an operator-based non-linear control is designed using an on-line discrete wavelet transform (DWT). First, the dynamics of the L-shaped arm vibration is modelled by considering the arm as a two-dimensional Euler–Bernoulli beam. The relationship between the load and the arm vibration is given. Second, by using the on-line DWT in the operator-based non-linear control, the proposed control for the system is designed. The wavelet transform is used to estimate the load and remove the influence of some undesired uncertainties. The operator-based right coprime factorisation method is used to guarantee the robust stability of the motor-arm system. The piezoelectric actuator is utilised to further reduce the arm vibration. The hysteresis of the piezoelectric actuator is compensated by using a Prandtl–Ishlinskii hysteresis model. Finally, simulation results are demonstrated to validate the proposed control.
Starting Page	770
Ending Page	777
Page Count	8
ISSN	17518644
Volume Number	12
e-ISSN	17518652
Issue Number	Issue 6, Apr (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/12/6
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2017.0337
Journal	IET Control Theory & Applications
Publisher Date	2018-01-10
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Arm Vibration Control Discrete Wavelet Transform DWT Electric Actuators Final Control Equipment Integral Transforms L-shaped Arm Linear Pulse Motor Manipulators Mechanical Variables Control Microactuators Motion Control Motor Motion Control Nonlinear Control System Online Wavelet Transform Operator-based Right Coprime Factorisation Method Operator-based Robust Nonlinear Vibration Control Piezoelectric Actuator Piezoelectric Actuators Prandtl-Ishlinskii Hysteresis Model Robust Control Robust Stability Spatial Variables Control Stability in Control Theory Two-dimensional Euler-Bernoulli Beam Vibration Control
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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