Abstract
In this paper, the vibration control system design for a flexible arm that possesses bending-torsional modes is dealt with. First, an experimental flexible arm is made, and an auxiliary mass connected to the other end via an extension bar so that the center of the stiffness of the arm may not exist on the direction of motion of the auxiliary mass. The auxiliary mass denotes payload. Three degree-of-freedom (DOF) reduced order model is identified according to Seto's procedure. Based on the obtained model, robust control design procedure utilizing H-infinity control theory is applied. Computer simulations are carried out and it is clarified that the obtained controller achieved a good performance.
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